Related papers: MeROS: SysML-based Metamodel for ROS-based Systems
Developing modern systems software is a complex task that combines business logic programming and Software Performance Engineering (SPE). The later is an experimental and labor-intensive activity focused on optimizing the system for a given…
Surrogate models are widely used to approximate complex systems across science and engineering to reduce computational costs. Despite their widespread adoption, the field lacks standardisation across key stages of the modelling pipeline,…
Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…
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…
Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen…
Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this…
It is imperative to develop an intrusion prevention system (IPS), specifically designed for autonomous robotic systems. This is due to the unique nature of these cyber-physical systems (CPS), which are not merely typical distributed…
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols.…
Humanoid robot loco-manipulation remains constrained by the semantic-physical gap. Current methods face three limitations: Low sample efficiency in reinforcement learning, poor generalization in imitation learning, and physical…
Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relationships facilitates the prediction of human behaviours and…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
Advanced reverse engineering tools are required to cope with the complexity of software systems and the specific requirements of numerous different tasks (re-architecturing, migration, evolution). Consequently, reverse engineering tools…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way.…
Over the last decade, the long-running endeavour to automate high-level processes in machine learning (ML) has risen to mainstream prominence, stimulated by advances in optimisation techniques and their impact on selecting ML…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
There is a growing need for better development methods and tools to keep up with the increasing complexity of new software systems. New types of user interfaces, the need for intelligent components, sustainability concerns, ... bring new…
Deploying autonomous robots in safety-critical domains requires architectures that ensure operational effectiveness and safety compliance. In this paper, we contribute the Safe-ROS architecture for developing reliable and verifiable…
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…