Related papers: Understanding Misconfigurations in ROS: An Empiric…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
The Robot Operating System (ROS) is a popular robotics middleware framework. In the last years, it underwent a redesign and reimplementation under the name ROS~2. It now features QoS-configurable communication and a flexible layered…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a…
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…
Increasing availability of machine learning (ML) frameworks and tools, as well as their promise to improve solutions to data-driven decision problems, has resulted in popularity of using ML techniques in software systems. However,…
Robots are typically not created with security as a main concern. Contrasting to typical IT systems, cyberphysical systems rely on security to handle safety aspects. In light of the former, classic scoring methods such as the Common…
Major software failures are reported to be due to misconfiguration. As manual configuration is too error-prone to be deemed a reliable strategy for dynamic and complex systems, automated configuration management has become a standard.…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
This paper presents the results of a research study related to software system failures, with the goal of understanding how we might better evolve, maintain and support software systems in production. We have qualitatively analyzed thirty…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
To prepare students for upcoming trends and challenges, it is important to teach them about the helpful and important aspects of modern technologies, such as robotics. However, classic study programs often fail to prepare students for…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…
As autonomous driving systems (ADSes) become increasingly complex and integral to daily life, the importance of understanding the nature and mitigation of software bugs in these systems has grown correspondingly. Addressing the challenges…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…