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In this paper we present our work with the Pepper robot, a service robot from SoftBank Robotics. We had two main goals in this work: improving the autonomy of this robot by increasing its awareness of the environment; and enhance the robot…
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed…
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…
The automotive industry is currently undergoing a major transformation with respect to the Electric/Electronic (E/E) and software architecture, driven by a significant increase in the complexity of the technological stack within a vehicle.…
RFID systems are among the major infrastructures of the Internet of Things, which follow ISO and EPC standards. In addition, ISO standard constitutes the main layers of supply chain, and many RFID systems benefit from ISO standard for…
Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way.…
Operational Technology (OT) is an integral component of critical national infrastructure, enabling automation and control in industries such as energy, manufacturing, and transportation. However, OT networks, systems, and devices have been…
Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
The next-generation Industrial Internet of Things (IIoT) inherently requires smart devices featuring rich connectivity, local intelligence, and autonomous behavior. Emerging Multiprocessor System-on-Chip (MPSoC) platforms along with…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
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…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Stream processing and reasoning is getting considerable attention in various application domains such as IoT, Industry IoT and Smart Cities. In parallel, reasoning and knowledge-based features have attracted research into many areas of…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
Industrial cyber-physical systems (CPS) have gained enormous attention of manufacturers in recent years due to their automation and cost reduction capabilities in the fourth industrial revolution (Industry 4.0). Such an industrial network…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
Humans are considered as integral components of Human-Robot Collaboration (HRC) systems, not only as object (e.g. in health care), but also as operators and service providers in manufacturing. Sophisticated and complex tasks are to be…
Within the field of robotics, computer vision remains a significant barrier to progress, with many tasks hindered by inefficient vision systems. This research proposes a generalized vision module leveraging YOLOv9, a state-of-the-art…
Future mobility systems and their components are increasingly defined by their software. The complexity of these cooperative intelligent transport systems (C-ITS) and the everchanging requirements posed at the software require continual…