Related papers: MROS: Runtime Adaptation For Robot Control Archite…
To succeed in the real world, robots must cope with situations that differ from those seen during training. We study the problem of adapting on-the-fly to such novel scenarios during deployment, by drawing upon a diverse repertoire of…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
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…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
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…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…
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,…
Self-adaptive approaches for runtime resource management of manycore computing platforms often require a runtime model of the system that represents the software organization or the architecture of the target platform. The increasing…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…