Related papers: SkiROS2: A skill-based Robot Control Platform for …
Jointly achieving safety and efficiency in human-robot interaction (HRI) settings is a challenging problem, as the robot's planning objectives may be at odds with the human's own intent and expectations. Recent approaches ensure safe robot…
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…
Robot programming typically makes use of a set of mechanical skills that is acquired by machine learning. Because there is in general no guarantee that machine learning produces robot programs that are free of surprising behavior, the safe…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Hierarchical Reinforcement Learning has been previously shown to speed up the convergence rate of RL planning algorithms as well as mitigate feature-based model misspecification (Mankowitz et. al. 2016a,b, Bacon 2015). To do so, it utilizes…
DiRAC is a scalable, distributed framework designed to enable efficient task assignment and path planning in very large robotic swarms. It introduces a novel zone-partitioned architecture with dynamically elected leaders and a…
This paper introduces CognitiveOS, the first operating system designed for cognitive robots capable of functioning across diverse robotic platforms. CognitiveOS is structured as a multi-agent system comprising modules built upon a…
To achieve scenario intelligence, humans must transfer knowledge to robots by developing goal-oriented algorithms, which are sometimes insensitive to dynamically changing environments. While deep reinforcement learning achieves significant…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology,…
This paper outlines a roadmap to effectively leverage shared mental models in multi-robot, multi-stakeholder scenarios, drawing on experiences from the BugWright2 project. The discussion centers on an autonomous multi-robot systems designed…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
With the rapid growth of computing powers and recent advances in deep learning, we have witnessed impressive demonstrations of novel robot capabilities in research settings. Nonetheless, these learning systems exhibit brittle generalization…
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…
This paper focuses on the design of hierarchical control architectures for autonomous systems with energy constraints. We focus on systems where energy storage limitations and slow recharge rates drastically affect the way the autonomous…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
BRILLO (Bartending Robot for Interactive Long-Lasting Operations) project has the overall goal of creating an autonomous robotic bartender that can interact with customers while accomplishing its bartending tasks. In such a scenario,…
In industrial applications, security and trust in the system are requirements for widespread adoption. Blockchain technologies have emerged as a potential solution to address identity management and secure data aggregation and control.…