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Trust in robots has been gathering attention from multiple directions, as it has special relevance in the theoretical descriptions of human-robot interactions. It is essential for reaching high acceptance and usage rates of robotic…
Grids enable the aggregation, virtualization and sharing of massive heterogeneous and geographically dispersed resources, using files, applications and storage devices, to solve computation and data intensive problems, across institutions…
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
Because robots can directly perceive and affect the physical world, security issues take on particular importance. In this paper, we describe the results of our work on scanning the entire IPv4 address space of the Internet for instances of…
The trend toward autonomous robot deployments is on an upward growth curve. These robots are undertaking new tasks and are being integrated into society. Examples of this trend are autonomous vehicles, humanoids, and eldercare. The movement…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
Software defects are a major threat to the reliability of computer systems. The literature shows that more than 30% of bug reports submitted in large software projects are misclassified (i.e., are feature requests, or mistakes made by the…
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…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
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…
Framing an issue as a puzzle, problem, or mess is an illustrative approach to characterizing the issue's complexity within organizational theory and systems thinking. We use this approach to characterize the issue of designing collective…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
XML configuration files are widely used in Android to define an app's user interface and essential runtime information such as system permissions. As Android evolves, it might introduce functional changes in the configuration environment,…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
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…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
Robots can provide assistance to a human by moving objects to locations around the person's body. With a well chosen initial configuration, a robot can better reach locations important to an assistive task despite model error, pose…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
Ideally the variability of a product line is represented completely and correctly by its variability model. However, in practice additional variability is often represented on the level of the build system or in the code. Such a situation…