Related papers: MeROS: SysML-based Metamodel for ROS-based Systems
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
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…
Robots are being applied in a vast range of fields, leading researchers and practitioners to write tasks more complex than in the past. The robot software complexity increases the difficulty of engineering the robot's software components…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics research topic. Besides simulation, components such as…
This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies…
This paper presents a SysML-based approach to enhance functional and software development process within an industrial context. The recent changes in technology such as electromobility and increased automation in heavy construction…
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 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 traditional robot behavior programming, the edit-compile-simulate-deploy-run cycle creates a large mental disconnect between program creation and eventual robot behavior. This significantly slows down behavior development because there…
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…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
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…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…