Related papers: Software Reconfiguration in Robotics
Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require…
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
Self-adaptivity allows software systems to autonomously adjust their behavior during run-time to reduce the cost complexities caused by manual maintenance. In this paper, a framework for building an external adaptation engine for…
Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including…
The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
Scientific software applications are increasingly developed by large interdiscplinary teams operating on functional modules organized around a common software framework, which is capable of integrating new functional capabilities without…
While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…
Using results on the topology of moduli space of polygons [Jaggi, 92; Kapovich and Millson, 94], it can be shown that for a planar robot arm with $n$ segments there are some values of the base-length, $z$, at which the configuration space…
Robotic platforms serve different use cases ranging from experiments for prototyping assistive applications up to embedded systems for realizing cyber-physical systems in various domains. We are using 1:10 scale miniature vehicles as a…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
Autonomous Robotics Systems are inherently safety-critical and have complex safety issues to consider (for example, a safety failure can lead to a safety failure). Before they are deployed, these systems of have to show evidence that they…
One key technical challenge in the age of autonomous machines is the programming of autonomous machines, which demands the synergy across multiple domains, including fundamental computer science, computer architecture, and robotics, and…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
Autonomous cleaning robots for public spaces have potential for addressing current societal challenges, such as labor shortages and cleanliness in public spaces. Other application domains like autonomous driving, bin picking, or search and…