Related papers: Software Reconfiguration in Robotics
Industrial robots play an increasingly important role in a growing number of fields. For example, robotics is used to increase productivity while reducing costs in various aspects of manufacturing. Since robots are often set up in…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Almost every software system provides configuration options to tailor the system to the target platform and application scenario. Often, this configurability renders the analysis of every individual system configuration infeasible. To…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
Robots can greatly enhance human capabilities, yet their development presents a range of challenges. This collaborative study, conducted by a team of software engineering and robotics researchers, seeks to identify the challenges…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…
Good parameter settings are crucial to achieve high performance in many areas of artificial intelligence (AI), such as propositional satisfiability solving, AI planning, scheduling, and machine learning (in particular deep learning).…
Complex robot behaviors are often structured as state machines, where states encapsulate actions and a transition function switches between states. Since transitions depend on physical parameters, when the environment changes, a roboticist…
Automated program repair is an emerging technology which consists of a suite of techniques to automatically fix bugs or vulnerabilities in programs. In this paper, we present a comprehensive survey of the state of the art in program repair.…
Current reconfiguration techniques are based on starting the system in a consistent configuration, in which all participating entities are in their initial state. Starting from that state, the system must preserve consistency as long as a…
Computing systems form the backbone of many areas in our society, from manufacturing to traffic control, healthcare, and financial systems. When software plays a vital role in the design, construction, and operation, these systems are…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
Real-world Cyber-Physical Systems (CPSs) are usually configurable. Through parameters, it is possible to configure, select or unselect different system functionalities. While this provides high flexibility, it also becomes a source for…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…
Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…