Related papers: YASMIN: Yet Another State MachINe library for ROS …
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…
We present an open-source tensor network Python library for quantum many-body simulations. At its core is an abelian-symmetric tensor, implemented as a sparse block structure managed by logical layer on top of dense multi-dimensional array…
A multitude of agent-oriented software engineering frameworks exist, most of which are developed by the academic multi-agent systems community. However, these frameworks often impose programming paradigms on their users that are challenging…
AutoMeKin2021 is an updated version of tsscds2018, a program for the automated discovery of reaction mechanisms (J. Comput. Chem. 2018, 39, 1922-1930). This release features a number of new capabilities: rare-event molecular dynamics…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
We develop a behavioural theory of reflective parallel algorithms (RAs), i.e. synchronous parallel algorithms that can modify their own behaviour. The theory comprises a set of postulates defining the class of RAs, an abstract machine…
Foundation models can endow robots with open-ended reasoning, language understanding, and adaptive planning, yet connecting a model to a physical robot today requires bespoke integration that couples perception, actuation, and safety to a…
MERLIN is an accelerator physics library written in C++ which can be used for a range of accelerator tracking simulations, including collimation in hadron colliders. Recently MERLIN has been upgraded to provide a robust tool for HL-LHC…
We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics to train a robot directly from joint states, using traditional robotic tools. We use an state-of-the-art implementation of the Proximal Policy…
For Finite State Machines (FSMs) a rich testing theory has been developed to discover aspects of their behavior and ensure their correct functioning. Although this theory is widely used, e.g., to check conformance of protocol…
This paper presents the (MARUN)2 underwater robotic simulator. The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed…
Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-world deployment. Therefore, simulations play an important role…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
This publication introduces A State Space Exploration Tool that is based on representing the model under verification as a piece of C++ code that obeys certain conventions. Its name is ASSET. Model checking takes place by compiling the…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
While world models are increasingly positioned as a pathway to overcoming data scarcity in domains such as robotics, open training infrastructure for world modeling remains nascent. We introduce Jasmine, a performant JAX-based world…
The verification of Multi-Agent Systems (MAS) poses a significant challenge. Various approaches and methodologies exist to address this challenge; however, tools that support them are not always readily available. Even when such tools are…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
Numerical modeling of fermionic many-body quantum systems presents similar challenges across various research domains, necessitating universal tools, including state-of-the-art machine learning techniques. Here, we introduce SOLAX, a Python…
Laser scanners are sensors of widespread use in robotic applications. Under the Robot Operating System (ROS) the information generated by laser scanners can be conveyed by either LaserScan messages or in the form of PointClouds. Many…