Related papers: Monitoring ROS2: from Requirements to Autonomous R…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
The area of Traffic Management (TM) is characterized by uncertainty, complexity, and imprecision. The complexity of software systems in the TM domain which contributes to a more challenging Requirements Engineering (RE) job mainly stems…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
The emergent behaviour of autonomous robotic swarms poses a significant challenge to their safety assurance. Assurance tasks encompass adherence to standards, certification processes, and the execution of verification and validation (V&V)…
Autonomous vehicles (AVs) rely on complex perception and communication systems, making them vulnerable to adversarial attacks that can compromise safety. While simulation offers a scalable and safe environment for robustness testing,…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
In recent years, robots are required to be autonomous and their robotic software are sophisticated. Robots have a problem of insufficient performance, since it cannot equip with a high-performance microprocessor due to battery-power…
Within Model-Driven Software Engineering, Domain-Specific Modelling has proven to be a powerful technique to specify systems and systems' behaviour in a formal, yet understandable way. Runtime verification (RV) has been successfully used to…
This paper is about shipping runtime verification to the masses. It presents the crucial technology enabling everyday car owners to monitor the behaviour of their cars in-the-wild. Concretely, we present an Android app that deploys RTLola…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…
Challenges related to automated driving are no longer focused on just the construction of such automated vehicles (AVs), but in assuring the safety of their operation. Recent advances in Level 3 and Level 4 autonomous driving have motivated…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2…
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…
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…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…