Related papers: A Solution to the Generalized ROS Hardware IO Prob…
With its growing use in industry, ROS is rapidly becoming a standard in robotics. While developments in ROS 2 show promise, the slow adoption cycles in industry will push widespread ROS 2 industrial adoption years from now. ROS will prevail…
For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such…
Knowledge representation and reasoning capacities are vital to cognitive robotics because they provide higher level cognitive functions for reasoning about actions, environments, goals, perception, etc. Although Answer Set Programming (ASP)…
In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
Despite recent efforts to collect multi-task, multi-embodiment datasets, to design recipes for training Vision-Language-Action models (VLAs), and to showcase these models on different robot platforms, generalist cross-embodiment robot…
With the rapid development of artificial intelligence, robotics, and Internet of Things, multi-robot systems are progressively acquiring human-like environmental perception and understanding capabilities, empowering them to complete complex…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
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…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
The field of autonomous vehicle research is advancing rapidly, necessitating platforms that meet real-time performance, safety, and security requirements for practical deployment. AUTOSAR Adaptive Platform (AUTOSAR AP) is widely adopted in…
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…
This paper introduces a ROS Multi Ontology References (ARMOR) service, a general-purpose and scalable interface between robot architectures and OWL reasoners. ARMOR addresses synchronisation and communication issues among heterogeneous and…
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…
Mobile systems are equipped with a diverse collection of I/O devices, including cameras, microphones, sensors, and modems. There exist many novel use cases for allowing an application on one mobile system to utilize I/O devices from…
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet…
Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce…