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This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…
A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
Future intelligent system will involve very various types of artificial agents, such as mobile robots, smart home infrastructure or personal devices, which share data and collaborate with each other to execute certain tasks.Designing an…
The presence of autonomous systems is growing at a fast pace and it is impacting many aspects of our lives. Designed to learn and act independently, these systems operate and perform decision-making without human intervention. However, they…
Recent advances in agentic and physical artificial intelligence (AI) have largely focused on ground-based platforms such as humanoid and wheeled robots, leaving aerial robots relatively underexplored. Meanwhile, state-of-the-art unmanned…
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…
Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relationships facilitates the prediction of human behaviours and…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Thanks to advances in large language models, a new type of software agent, the artificial intelligence (AI) agent, has entered the marketplace. Companies such as OpenAI, Google, Microsoft, and Salesforce promise their AI Agents will go from…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
Vision-language-action (VLA) models and LLM agents have advanced rapidly, yet reliable deployment on physical robots is often hindered by an interface mismatch between agent tool APIs and robot middleware. Current implementations typically…
This paper proposes an agent-based approach toward a more natural interface between humans and machines. Large language models equipped with tools and the communication standard OPC UA are utilized to control machines in natural language.…
AI Agents powered by Large Language Models are transforming the world through enormous applications. A super agent has the potential to fulfill diverse user needs, such as summarization, coding, and research, by accurately understanding…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
This paper introduces a ROS Multi Ontology References (ARMOR) service, a general-purpose and scalable interface between robot architectures and OWL reasoners. ARMOR addresses synchronisation and communication issues among heterogeneous and…
This paper envisions a transformative paradigm in software engineering, where Artificial Intelligence, embodied in fully autonomous agents, becomes the primary driver of the core software development activities. We introduce a new class of…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
This paper presents a new software framework for HRI experimentation with the sixth version of the common NAO robot produced by the United Robotics Group. Embracing the common demand of researchers for better performance and new features…