Related papers: SkiROS2: A skill-based Robot Control Platform for …
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…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
Offloading computationally expensive algorithms to the edge or even cloud offers an attractive option to tackle limitations regarding on-board computational and energy resources of robotic systems. In cloud-native applications deployed with…
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.…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
Symbolic anchoring is a crucial problem in the field of robotics, as it enables robots to obtain symbolic knowledge from the perceptual information acquired through their sensors. In cognitive-based robots, this process of processing…
LLM-based agents are increasingly deployed to handle streaming tasks, yet they often remain one-off problem solvers that fail to learn from past interactions. Reusable skills distilled from experience provide a natural substrate for…
The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar results can be achieved for microrobots. In this paper, we…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…
Knowledge representation and reasoning capacities are vital to cognitive robotics because they provide higher level cognitive functions for reasoning about actions, environments, goals, perception, etc. Although Answer Set Programming (ASP)…
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
We present a synchronous robotic testbed called SyROF that allows fast implementation of robotic swarms. Our main goal is to lower the entry barriers to cooperative-robot systems for undergraduate and graduate students. The testbed provides…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…