Related papers: PAAM: A Framework for Coordinated and Priority-Dri…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Advanced Air Mobility (AAM) is the next generation of air transportation that includes new entrants such as electric vertical takeoff and landing (eVTOL) aircraft, increasingly autonomous flight operations, and small UAS package delivery.…
As particle accelerator control systems evolve in complexity and scale, the need for responsive, scalable, and cost-effective computational infrastructure becomes increasingly critical. Function-as-a-Service (FaaS) offers an alternative to…
Fully-partitioned fixed-priority scheduling (FP-FPS) multiprocessor systems are widely found in real-time applications, where spin-based protocols are often deployed to manage the mutually exclusive access of shared resources.…
In-DRAM Processing-In-Memory (DRAM-PIM) has emerged as a promising approach to accelerate memory-intensive workloads by mitigating data transfer overhead between DRAM and the host processor. Bit-serial DRAM-PIM architectures, further…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Neural networks are increasingly used in robotics as policies, state transition models, state estimation models, or all of the above. With these components being learned from data, it is important to be able to analyze what behaviors were…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
This paper aims to address the integrated routing and appointment scheduling (RAS) problem for a single service provider. The RAS problem is an operational challenge faced by operators that provide services requiring home attendance, such…
This paper presents a new software framework for HRI experimentation with the sixth version of the common NAO robot produced by the United Robotics Group. Embracing the common demand of researchers for better performance and new features…
In High Performance Computing (HPC) infrastructures, the control of resources by batch systems can lead to prolonged queue waiting times and adverse effects on the overall execution times of applications, particularly in data-intensive and…
Oblivious RAM (ORAM) is a provable secure primitive to prevent access pattern leakage on the memory bus. It serves as the intermediate layer between the trusted on-chip components and the untrusted external memory systems to modulate the…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
Large language models (LLMs) remain vulnerable to misalignment and jailbreaks, making external safeguards like moderation filters essential, yet existing filters often focus narrowly on safety, falling short of the broader alignment needs…
Serverless computing paradigm has become more ingrained into the industry, as it offers a cheap alternative for application development and deployment. This new paradigm has also created new kinds of problems for the developer, who needs to…