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The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Cooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation and to bridge the gap between development and real-world deployment. However, their complexity and cost often hinder its…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
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…
We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
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,…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
The 5G mobile networks extend the capability for supporting collaborative robot operations in outdoor scenarios. However, the restricted battery life of robots still poses a major obstacle to their effective implementation and utilization…
From both an educational and research point of view, experiments on hardware are a key aspect of robotics and control. In the last decade, many open-source hardware and software frameworks for wheeled robots have been presented, mainly in…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Robots are becoming an essential part of many operations including marine exploration or environmental monitoring. However, the underwater environment presents many challenges, including high pressure, limited visibility, and harsh…
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…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous work, this paper presents an overarching framework for the…
Manual parallelization of code remains a significant challenge due to the complexities of modern software systems and the widespread adoption of multi-core architectures. This paper introduces OMPar, an AI-driven tool designed to automate…
A robotic network is a system with multiple robots connected by a communication network. Certain tasks that cannot be accomplished with available robotic resources are candidates for the use of cloud robotics, which overcomes the…
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…