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Path planning is a key component in mobile robotics. A wide range of path planning algorithms exist, but few attempts have been made to benchmark the algorithms holistically or unify their interface. Moreover, with the recent advances in…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
For task-oriented dialog systems to be maximally useful, it must be able to process conversations in a way that is (1) generalizable with a small number of training examples for new task domains, and (2) robust to user input in various…
An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…
This paper introduces a framework for human swarm interaction studies that measures situation awareness in dynamic environments. A tablet-based interface was developed for a user study by implementing the concepts introduced in the…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
This paper addresses the Flexible Job Shop Scheduling Problem and its extension with Worker Flexibility, which integrates workforce assignment into machine-operation scheduling. Diverse solvers have been proposed across multiple…
We introduce a new simulation benchmark "HandoverSim" for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasping of objects. We create training and evaluation…
The objective comparison of Reinforcement Learning (RL) algorithms is notoriously complex as outcomes and benchmarking of performances of different RL approaches are critically sensitive to environmental design, reward structures, and…
It is well known that it is difficult to have a reliable and robust framework to link multi-agent deep reinforcement learning algorithms with practical multi-robot applications. To fill this gap, we propose and build an open-source…
This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…