Related papers: Scenario Execution for Robotics: A generic, backen…
Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
Behavior prediction remains one of the most challenging tasks in the autonomous vehicle (AV) software stack. Forecasting the future trajectories of nearby agents plays a critical role in ensuring road safety, as it equips AVs with the…
This paper presents Gym-Ignition, a new framework to create reproducible robotic environments for reinforcement learning research. It interfaces with the new generation of Gazebo, part of the Ignition Robotics suite, which provides three…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Scenario building is an established method to anticipate the future of emerging technologies. Its primary goal is to use narratives to map future trajectories of technology development and sociotechnical adoption. Following this process,…
Scenario-based testing is considered state-of-the-art to verify and validate Advanced Driver Assistance Systems or Automated Driving Systems. Due to the official launch of the SOTIF-standard (ISO 21448), scenario-based testing becomes more…
Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoing challenge in robotics. We address the problem of one-shot…
Autonomous agents are increasingly expected to support scientific research, and recent benchmarks report progress in code repair and autonomous experimentation. However, these evaluations typically assume a pre-configured execution…
We present the labscript suite, an open-source experiment control system for automating shot-based experiments and their analysis. Experiments are composed as Python code, which is used to produce low-level hardware instructions. They are…
We envision a future in which autonomous robots conduct scientific experiments in ways that are not only precise and repeatable, but also open, trustworthy, and transparent. To realize this vision, we present two key contributions: a…
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…
There is a growing need for cybersecurity professionals with practical knowledge and experience to meet societal needs and comply with new standards and regulations. At the same time, the advances in software technology and artificial…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Software system can include redundant implementation elements, such as, different methods that can produce indistinguishable results. This type of redundancy is called intrinsic if it is already available in the software, although not…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
Scientific computing libraries, either being in-house or open-source, have experienced enormous progress in both engineering and scientific research. It is therefore essential to ensure that the modifications in the source code aroused by…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often…
Recently virtual platforms and virtual prototyping techniques have been widely applied for accelerating software development in electronics companies. It has been proved that these techniques can greatly shorten time-to-market and improve…