Related papers: ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics

Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…

Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…

This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…

A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…

This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the multi-robot system to exploit universal physical constraints…

The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…

In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…

This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…

Roborobo! is a multi-platform, highly portable, robot simulator for large-scale collective robotics experiments. Roborobo! is coded in C++, and follows the KISS guideline ("Keep it simple"). Therefore, its external dependency is solely…

Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…

The Robot Operating System (ROS) streamlines human processes, increasing the efficiency of various production tasks. However, the security of data transfer operations in ROS is still in its immaturity. Securing data exchange between several…

Humans have an impressive ability to solve complex coordination problems in a fully distributed manner. This ability, if learned as a set of distributed multirobot coordination strategies, can enable programming large groups of robots to…

In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…

This paper presents a novel framework for cooperative robotics competitions (coopetitions) that promote the transferability and composability of robotics modules, including software, hardware, and data, across heterogeneous robotic systems.…

Efficiently delivering items to an ongoing surgery in a hospital operating room can be a matter of life or death. In modern hospital settings, delivery robots have successfully transported bulk items between rooms and floors. However,…

In an increasingly automated world -- from warehouse robots to self-driving cars -- streamlining the development and deployment process and operations of robotic applications becomes ever more important. Automated DevOps processes and…

To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…

This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…