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Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
Model-based development enables quicker prototyping, earlier experimentation and validation of design intents. For a multi-agent system with complex asynchronous interactions and concurrency, formal verification, model-checking in…
Developing simple and expressive access controls -- interfaces to specify policies that define who should have access to resources and under what circumstances -- is a longstanding challenge in usable security. We present Sketch-based…
The presence of autonomous systems is growing at a fast pace and it is impacting many aspects of our lives. Designed to learn and act independently, these systems operate and perform decision-making without human intervention. However, they…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
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…
Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among objects,…
One of the most widespread framework for the management of access-control policies is Administrative Role Based Access Control (ARBAC). Several automated analysis techniques have been proposed to help maintaining desirable security…
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors.…
Preventing collisions in multi-robot navigation is crucial for deployment. This requirement hinders the use of learning-based approaches, such as multi-agent reinforcement learning (MARL), on their own due to their lack of safety…
Heterogeneous and dynamic IoT environments require a lightweight, scalable, and trustworthy access control system for protection from unauthorized access and for automated detection of compromised nodes. Recent proposals in IoT access…
Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…
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…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing…