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Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
Centralized architectures for systems such as smart offices and homes are rapidly becoming obsolete due to inherent inflexibility in their design and management. This is because such systems should not only be easily re-configurable with…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…