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The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware…
In this work we present kiwiPy, a Python library designed to support robust message based communication for high-throughput, big-data, applications while being general enough to be useful wherever high-volumes of messages need to be…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
Robotic middleware is fundamental to ensuring reliable communication among system components and is crucial for intelligent robotics, autonomous vehicles, and smart manufacturing. However, existing robotic middleware often struggles to meet…
Building applications that perceive the world around them is challenging. A developer needs to (a) select and develop corresponding machine learning algorithms and models, (b) build a series of prototypes and demos, (c) balance resource…
The rise of intelligent autonomous systems, especially in robotics and autonomous agents, has created a critical need for robust communication middleware that can ensure real-time processing of extensive sensor data. Current robotics…
Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…
We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
Natural human interactions for Mixed Reality Applications are overwhelmingly multimodal: humans communicate intent and instructions via a combination of visual, aural and gestural cues. However, supporting low-latency and accurate…
Foundation vision-language models are becoming increasingly relevant to robotics because they can provide richer semantic perception than narrow task-specific pipelines. However, their practical adoption in robot software stacks still…
As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control…
Mixed Reality (MR) has recently shown great success as an intuitive interface for enabling end-users to teach robots. Related works have used MR interfaces to communicate robot intents and beliefs to a co-located human, as well as developed…
This paper presents a communication framework built to simplify the construction of robotic ecologies, i.e., networks of heterogeneous computational nodes interfaced with sensors, actuators, and mobile robots. Building integrated ambient…