Related papers: A Generic Synchronous Dataflow Architecture to Rap…

Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framework for autonomous integration and…

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…

Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and…

Continuous Integration and Continuous Deployment (CI/CD) pipelines are central to modern software development. In large organizations, the high volume of builds and tests creates bottlenecks, especially under shared infrastructure. This…

Heterogeneous nodes that combine multi-core CPUs with diverse accelerators are rapidly becoming the norm in both high-performance computing (HPC) and AI infrastructures. Exploiting these platforms, however, requires orchestrating several…

We present DataFlow, a computational framework for building, testing, and deploying high-performance machine learning systems on unbounded time-series data. Traditional data science workflows assume finite datasets and require substantial…

Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…

This paper proposes a novel approach to address the challenges of deploying complex robotic software in large-scale systems, i.e., Centralized Nonlinear Model Predictive Controllers (CNMPCs) for multi-agent systems. The proposed approach is…

Autonomous robots need to be able to handle uncertainties when deployed in the real world. For the robot to be able to robustly work in such an environment, it needs to be able to adapt both its architecture as well as its task plan.…

In applications of dynamical systems, situations can arise where it is desired to predict the onset of synchronization as it can lead to characteristic and significant changes in the system performance and behaviors, for better or worse. In…

Maintenance of multiple, distributed up-to-date copies of collections of changing Web resources is important in many application contexts and is often achieved using ad hoc or proprietary synchronization solutions. ResourceSync is a…

With recent increasing computational and data requirements of scientific applications, the use of large clustered systems as well as distributed resources is inevitable. Although executing large applications in these environments brings…

While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…

Heterogeneous Multi-Embodied Agent Systems involve coordinating multiple embodied agents with diverse capabilities to accomplish tasks in dynamic environments. This process requires the collection, generation, and consumption of massive,…

Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…

With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven methods require training the controller for each morphology to…

We propose a new architecture for optimization modeling frameworks in which solvers are expressed as computation graphs in a framework like TensorFlow rather than as standalone programs built on a low-level linear algebra interface. Our new…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…

Evolving smart grids require flexible and adaptive control methods. A harmonized hybrid cyber-physical framework, which considers both physical and cyber layers and ensures adaptability, is one of the critical challenges to enable…