Related papers: Reusability and Modifiability in Robotics Software…
Resource-limited robots face significant challenges in executing computationally intensive tasks, such as locomotion and manipulation, particularly for real-time optimal control algorithms like Model Predictive Control (MPC). This paper…
Many current robot designs prioritize efficiency and one-size-fits-all solutions, oftentimes overlooking personalization, adaptability, and sustainability. To explore alternatives, we conducted two co-design workshops with 23 participants,…
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…
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…
Increasing reuse opportunities is a well-known problem for software designers as well as for hardware designers. Nonetheless, current software and hardware engineering practices have embraced different approaches to this problem. Software…
Control code is a concept that is closely related to a frequently occurring practitioner's view on what is a program: code that is capable of controlling the behaviour of some machine. We present a logical approach to explain issues…
Systematically developing high--quality reusable software components is a difficult task and requires careful design to find a proper balance between potential reuse, functionalities and ease of implementation. Extendibility is an important…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
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…
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…
Microservice architectures promote small, independently developed services, but increase overall architectural complexity. It is crucial that developers understand the architecture and how changes to a service affect the overall system, but…
This paper presents the modular automation for reuse in manufacturing systems (modAT4rMS) approach to support the model-driven engineering (MDE) of object oriented manufacturing automation software with regard to its usability and software…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…
Programmable robots are engaging and fun to play with, interact with the real world, and are therefore well suited to introduce young learners to programming. Introductory robot programming languages often extend existing block-based…
As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased.To aid researchers in the…
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…
The modular technology of creation of the problem-oriented extensions of a CAD system is described, which was realised in a system TechnoCAD GlassX for designing of reconstruction of the plants. The modularity of the technology is expressed…
Context: Software architecture is a knowledge-intensive field. One mechanism for storing architecture knowledge is the recognition and description of architectural patterns. Selecting architectural patterns is a challenging task for…