Related papers: ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
We present ArrayBot, a distributed manipulation system consisting of a $16 \times 16$ array of vertically sliding pillars integrated with tactile sensors, which can simultaneously support, perceive, and manipulate the tabletop objects.…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…
Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…
Modular Reconfigurable Robots (MRRs) represent an exciting path forward for industrial robotics, opening up new possibilities for robot design. Compared to monolithic manipulators, they promise greater flexibility, improved maintainability,…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
We discuss the design, architecture, and implementation of a toolkit which supports some theories for distributed interactions. The main design principles of our architecture are flexibility and modularity. Our main goal is to provide an…
Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relationships facilitates the prediction of human behaviours and…
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…
Development and testing of multi-robot systems employing wireless signal-based sensing requires access to suitable hardware, such as channel monitoring WiFi transceivers, which can pose significant limitations. The WiFi Sensor for Robotics…
Autonomous navigation systems based on computer vision sensors often require sophisticated robotics platforms which are very expensive. This poses a barrier for the implementation and testing of complex localization, mapping, and navigation…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…