Related papers: Reusability and Modifiability in Robotics Software…
Smart factories that allow flexible production of highly individualized goods require flexible robots, usable in efficient assembly lines. Compliant robots can work safely in shared environments with domain experts, who have to program such…
We introduce our concept on the modular wireless robot consisting of three main modules : main unit, data acquisition and data processing modules. We have developed a generic prototype with an integrated control and monitoring system to…
The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology…
The effectiveness of the machine learning methods for real-world tasks depends on the proper structure of the modeling pipeline. The proposed approach is aimed to automate the design of composite machine learning pipelines, which is…
To counter man-at-the-end attacks such as reverse engineering and tampering, software is often protected with techniques that require support modules to be linked into the application. It is well-known, however, that attackers can exploit…
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains challenging due to the presence of disturbances and measurement…
In this paper, we discuss the problem of the software engineering of a class of business spreadsheet models. A methodology for structured software development is proposed, which is based on structured analysis of data, represented as…
Model Predictive Control (MPC) is a computationally demanding control technique that allows dealing with multiple-input and multiple-output systems, while handling constraints in a systematic way. The necessity of solving an optimization…
Modular programming is a development paradigm that emphasizes self-contained, flexible, and independent pieces of functionality. This practice allows new features to be seamlessly added when desired, and unwanted features to be removed,…
Design patterns provide reusable solutions to recurring software design problems. Automatically detecting these patterns in source code can help bootstrap new developers' understanding of unfamiliar software system architectures, and can…
In embedded control systems, the potential risks of software defects have been increasing because of software complexity which leads to, for example, timing related problems. These defects are rarely found by tests or simulations. To detect…
The availability of large-scale datasets, advanced architectures, and powerful computational resources have led to effective code models that automate diverse software engineering activities. The datasets usually consist of billions of…
This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Designing and analysis of test cases is a challenging tasks for tester roles especially those who are related to test the structure of program. Recently, Programmers are showing valuable trend towards the implementation of recursive modules…
One of the goals of software design is to model a system in such a way that it is easily understandable. Nowadays the tendency for software development is changing from manual coding to automatic code generation; it is becoming model-based.…
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners…
We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…