Related papers: A Capability and Skill Model for Heterogeneous Aut…
The implicit assumption that human and autonomous agents have certain capabilities is omnipresent in modern teaming concepts. However, none formalize these capabilities in a flexible and quantifiable way. In this paper, we propose…
Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…
As multiple and heterogenous unmanned vehicle systems continue to play an increasingly important role in addressing complex missions in the real world, the need for effective cooperation among unmanned vehicles becomes paramount. The…
Advanced communication protocols are critical to enable the coexistence of autonomous robots with humans. Thus, the development of explanatory capabilities is an urgent first step toward autonomous robots. This survey provides an overview…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
The use of robots in industrial settings continues to grow, driven by the need to address complex societal challenges such as labor shortages, aging populations, and ever-increasing production demands. In this abstract, we advocate for (and…
In manufacturing, many use cases of Industry 4.0 require vendor-neutral and machine-readable information models to describe, implement and execute resource functions. Such models have been researched under the terms capabilities and skills.…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…
Simulations offer opportunities in the examination of manufacturing processes. They represent various aspects of the production process and the associated production systems. However, often a single simulation does not suffice to provide a…
The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills,…
Machine learning (ML) models are increasingly being used in application domains that often involve working together with human experts. In this context, it can be advantageous to defer certain instances to a single human expert when they…
While there are many examples in which robots provide social assistance, a lack of theory on how the robots should decide how to assist impedes progress in realizing these technologies. To address this deficiency, we propose a pair of…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
Knowledge about how well a robot can perform a specific task is currently present only in engineering reports which are inaccessible to the robot. Artificial Intelligence techniques, such as hypergraphs and automated reasoning, can provide…
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framework for autonomous integration and…