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Systems integration is a difficult matter particularly when its components are varied. The problem becomes even more difficult when such components are heterogeneous such as humans, robots and software systems. Currently, the humans are…

In this work we study the performance of a heterogeneous wireless sensor network which consists of 4 different hardware platforms (TelosB, SunSPOT, Arduino, iSense). All hardware platforms use 802.15.4 compliant radios. Due to partial…

Heterogeneous multi-robot systems (HMRS) have emerged as a powerful approach for tackling complex tasks that single robots cannot manage alone. Current large-language-model-based multi-agent systems (LLM-based MAS) have shown success in…

Building robots is an engaging activity that provides opportunities for hands-on learning. However, traditional robot-building kits are usually costly with limited functionality due to material and technology constraints. To improve the…

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent…

In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…

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…

With the recent advancement of technologies over the past year, IoT has become a paradigm in which devices communicate with each other and the cloud to achieve various applications in multidisciplinary fields. However, developing,…

A consistent theme in software experimentation at Microsoft has been solving problems of experimentation at scale for a diverse set of products. Running experiments at scale (i.e., many experiments on many users) has become state of the art…

The continuous testing of small changes to systems has proven to be useful and is widely adopted in the development of software systems. For this, software is tested in environments that are as close as possible to the production…

This paper illustrates the MIR (Mobile Intelligent Robotics) Vehicle: a feasible option of transforming an electric ride-on-car into a modular Graphics Processing Unit (GPU) powered autonomous platform equipped with the capability that…

Despite the rapidly growing applications of robots in industry, the use of robots to automate tasks in scientific laboratories is less prolific due to lack of generalized methodologies and high cost of hardware. This paper focuses on the…

This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…

The past few years have seen rapid progress in the development of service robots. Universities and companies alike have launched major research efforts toward the deployment of ambitious systems designed to aid human operators performing a…

As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a…

Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.

Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…

The use of mobile robots has inevitably increased in recent years. The increase in the companies that produce products in this field, the popularity of the studies in the robotic field and the technological competence to serve many…

Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…

In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components…