Related papers: Lodestar: An Integrated Embedded Real-Time Control…
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…
Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…
Keeping abreast of current trends, technologies, and best practices in visualization and data analysis is becoming increasingly difficult, especially for fledgling data scientists. In this paper, we propose Lodestar, an interactive…
Reliability and real-time responsiveness in safety-critical systems have traditionally been achieved using error detection mechanisms, such as LockStep, which require pre-configured checker cores,strict synchronisation between main and…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Synthesizing high-fidelity and controllable 4D LiDAR data is crucial for creating scalable simulation environments for autonomous driving. This task is inherently challenging due to the sensor's unique spherical geometry, the temporal…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…
A properly designed controller can help improve the quality of experimental measurements or force a dynamical system to follow a completely new time-evolution path. Recent developments in deep reinforcement learning have made steep advances…
For collaborative robots to become useful, end users who are not robotics experts must be able to instruct them to perform a variety of tasks. With this goal in mind, we developed a system for end-user creation of robust task plans with a…
Whole Body Operational Space Control (WBOSC) is a pioneering algorithm in the field of human-centered Whole-Body Control (WBC). It enables floating-base highly-redundant robots to achieve unified motion/force control of one or more…
Despite rapid evolution, embedded computing systems increasingly feature resource constraints and workload uncertainties. To achieve much better system performance in unpredictable environments than traditional design approaches, a novel…
Embodied AI robots have the potential to fundamentally improve the way human beings live and manufacture. Continued progress in the burgeoning field of using large language models to control robots depends critically on an efficient…
In this paper we propose an Intelligent Management System which is capable of managing the automobile functions using the rigorous real-time principles and a multicore processor in order to realize higher efficiency and safety for the…
Autonomous vehicles demand high accuracy and robustness of perception algorithms. To develop efficient and scalable perception algorithms, the maximum information should be extracted from the available sensor data. In this work, we present…
Embedded systems are playing an increasingly important role in control engineering. Despite their popularity, embedded systems are generally subject to resource constraints and it is therefore difficult to build complex control systems on…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to…
Lockstep processing is a recognized technique for helping to secure functional-safety relevant processing against, for instance, single upset errors that might cause faulty execution of code. Lockstepping processors does however bind…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…