Related papers: ROSA: A Knowledge-based Solution for Robot Self-Ad…
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…
Microservices architecture offers various benefits, including granularity, flexibility, and scalability. A crucial feature of this architecture is the ability to autoscale microservices, i.e., adjust the number of replicas and/or manage…
Modern paradigms for robot imitation train expressive policy architectures on large amounts of human demonstration data. Yet performance on contact-rich, deformable-object, and long-horizon tasks plateau far below perfect execution, even…
The ROSS method is a new approach in the area of knowledge representation that is useful for many artificial intelligence and natural language understanding representation and reasoning tasks. (ROSS stands for "Representation", "Ontology",…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…
Domain generalization aims at developing suitable learning algorithms in source training domains such that the model learned can generalize well on a different unseen testing domain. We present a novel two-stage approach called…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…
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…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
Multi-task learning by robots poses the challenge of the domain knowledge: complexity of tasks, complexity of the actions required, relationship between tasks for transfer learning. We demonstrate that this domain knowledge can be learned…
Recent advances in robot learning have shown promise in enabling robots to perform a variety of manipulation tasks and generalize to novel scenarios. One of the key contributing factors to this progress is the scale of robot data used to…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
Self-adaptive software systems continuously adapt in response to internal and external changes in their execution environment, captured as contexts. The COP paradigm posits a technique for the development of self-adaptive systems, capturing…
Autonomous service robots require computational frameworks that allow them to generalize knowledge to new situations in a manner that models uncertainty while scaling to real-world problem sizes. The Robot Common Sense Embedding (RoboCSE)…
Robots have inherently limited onboard processing, storage, and power capabilities. Cloud computing resources have the potential to provide significant advantages for robots in many applications. However, to make use of these resources,…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
The specification and validation of robotics applications require bridging the gap between formulating requirements and systematic testing. This often involves manual and error-prone tasks that become more complex as requirements, design,…