Related papers: Scenario Execution for Robotics: A generic, backen…
With the spread of robots in unstructured, dynamic environments, the topic of path replanning has gained importance in the robotics community. Although the number of replanning strategies has significantly increased, there is a lack of…
Scenario-based testing has become a promising approach to overcome the complexity of real-world traffic for safety assurance of automated vehicles. Within scenario-based testing, a system under test is confronted with a set of predefined…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
Autonomous systems, such as self-driving vehicles, quadrupeds, and robot manipulators, are largely enabled by the rapid development of artificial intelligence. However, such systems involve several trustworthy challenges such as safety,…
CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally developed for the lesser known Fawkes…
This work presents an extension to the MoveIt2 planning library supporting asynchronous execution for multi-robot / multi-arm robotic setups. The proposed method introduces a unified way for the execution of both synchronous and…
In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both…
Imagine you are a teacher attempting to assess a student's level in a particular subject. If you design a test with only hard questions, and the student fails, this mostly proves that the student does not understand the more advanced…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
Repairing legacy systems is a difficult and error-prone task: often, limited knowledge of the intricacies of these systems could make an attempted repair result in new errors. Consequently, it is desirable to repair such systems in an…
This paper describes an Open Source Software (OSS) project: PythonRobotics. This is a collection of robotics algorithms implemented in the Python programming language. The focus of the project is on autonomous navigation, and the goal is…
While there was great progress regarding the technology and its implementation for vehicles equipped with automated driving systems (ADS), the problem of how to proof their safety as a necessary precondition prior to market launch remains…
The pursuit of robot generalists, agents capable of performing diverse tasks across diverse environments, demands rigorous and scalable evaluation. Yet real-world testing of robot policies remains fundamentally constrained: it is…
The rapidly evolving field of autonomous driving systems (ADSs) is full of promise. However, in order to fulfil these promises, ADSs need to be safe in all circumstances. This paper introduces ISS-Scenario, an autonomous driving testing…
Autonomous vehicles (AVs) require extensive testing in simulation, but test case generation for driving scenarios is laborious. The desired scenarios are often out-of-distribution and have precise requirements on interactions with the AV…
Evaluation of social robot navigation inherently requires human input due to its qualitative nature. Motivated by the need to scale human evaluation, we propose a general method for deploying interactive, rich-client robotic simulations on…
Modern robots can perform a wide range of simple tasks and adapt to diverse scenarios in the well-trained environment. However, deploying pre-trained robot models in real-world user scenarios remains challenging due to their limited…
Running complex sets of machine learning experiments is challenging and time-consuming due to the lack of a unified framework. This leaves researchers forced to spend time implementing necessary features such as parallelization, caching,…
This paper proposes a software repository model together with associated tooling and consists of several complex, open-source GUI driven applications ready to be used in empirical software research. We start by providing the rationale for…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…