Related papers: Programming Robot Behaviors with Execution Managem…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
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…
Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short…
As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…
Programming robots for general purpose applications is extremely challenging due to the great diversity of end-user tasks ranging from manufacturing environments to personal homes. Recent work has focused on enabling end-users to program…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge…
The methodology of Software-Defined Robotics hierarchical-based and stand-alone framework can be designed and implemented to program and control different sets of robots, regardless of their manufacturers' parameters and specifications,…
The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging. In fact, teaching robots new actions from scratch that can…
In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Control Framework. While the former is state-based and…
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…
Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…