Related papers: Software Quality Assessment for Robot Operating Sy…
Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and intercede when necessary, manually or autonomously. Prior work in…
Deploying autonomous robots in safety-critical domains requires architectures that ensure operational effectiveness and safety compliance. In this paper, we contribute the Safe-ROS architecture for developing reliable and verifiable…
With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring…
Software testing is a critical element of software quality assurance and represents the ultimate review of specification, design and coding. Software testing is the process of testing the functionality and correctness of software by running…
Software measurement is an essential management tool to develop robust and maintainable software systems. Software metrics can be used to control the inherent complexities in software design. To guarantee that the components of the software…
It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems,…
Robots have gained relevance in society, increasingly performing critical tasks. Nonetheless, robot security is being underestimated. Robotics security is a complex landscape, which often requires a cross-disciplinar perspective to which…
Robot systems are increasingly integrating into numerous avenues of modern life. From cleaning houses to providing guidance and emotional support, robots now work directly with humans. Due to their far-reaching applications and…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
The increasing impact of robotics on industry and on society will unavoidably lead to the involvement of robots in incidents and mishaps. In such cases, forensic analyses are key techniques to provide useful evidence on what happened, and…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
Embedded systems in safety-critical environments are continuously required to deliver more performance and functionality, while expected to provide verified safety guarantees. Nonetheless, platform-wide software verification (required for…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques.…
In software practice, static analysis tools remain an integral part of detecting defects in software and there have been various tools designed to run the analysis in different programming languages like Java, C++, and Python. This paper…
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…
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.…