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This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication protocols, and its integration with the Moveit2 motion planning…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
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…
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…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Edge/Fog computing is a novel computing paradigm that provides resource-limited Internet of Things (IoT) devices with scalable computing and storage resources. Compared to cloud computing, edge/fog servers have fewer resources, but they can…
Recent global growth in the interest of smart cities has led to trillions of dollars of investment toward research and development. These connected cities have the potential to create a symbiosis of technology and society and revolutionize…
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…
The wide use of robotic systems contributed to developing robotic software highly coupled to the hardware platform running the robotic system. Due to increased maintenance cost or changing business priorities, the robotic hardware is…
There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and enhancing robot coordination. However, integrating cloud…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
Internet of Things (IoT) has already proven to be the building block for next-generation Cyber-Physical Systems (CPSs). The considerable amount of data generated by the IoT devices needs latency-sensitive processing, which is not feasible…
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…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…