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While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…
Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system.…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
This paper introduces CoMuRoS (Collaborative Multi-Robot System), a generalizable hierarchical architecture for heterogeneous robot teams that unifies centralized deliberation with decentralized execution, and supports event-driven…
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Orchestrated multi-agent systems represent the next stage in the evolution of artificial intelligence, where autonomous agents collaborate through structured coordination and communication to achieve complex, shared objectives. This paper…