Related papers: SROS2: Usable Cyber Security Tools for ROS 2
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
In an increasingly automated world -- from warehouse robots to self-driving cars -- streamlining the development and deployment process and operations of robotic applications becomes ever more important. Automated DevOps processes and…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…
Open access to publication, software and hardware is central to robotics: it lowers barriers to entry, supports reproducible science and accelerates reliable system development. However, openness also exacerbates the inherent dual-use risks…
Cyber-physical systems (CPS) are being increasingly utilized for critical applications. CPS combines sensing and computing elements, often having multi-layer designs with networking, computational, and physical interfaces, which provide…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
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…
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…
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…
The reuse of technologies and inherent complexity of most robotic systems is increasingly leading to robots with wide attack surfaces and a variety of potential vulnerabilities. Given their growing presence in public environments, security…
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…
This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Software vulnerabilities remain a significant risk factor in achieving security objectives within software development organizations. This is especially true where either proprietary or open-source software (OSS) is included in the…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…