Related papers: Enabling Generic Robot Skill Implementation Using …
A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…
Intelligent manufacturing is becoming increasingly important due to the growing demand for maximizing productivity and flexibility while minimizing waste and lead times. This work investigates automated secondary robotic food packaging…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
In this paper we introduce a knowledge engine, which learns and shares knowledge representations, for robots to carry out a variety of tasks. Building such an engine brings with it the challenge of dealing with multiple data modalities…
This position paper looks briefly at the way we attempt to program robotic AI systems. Many AI systems are based on the idea of trying to improve the performance of one individual system to beyond so-called human baselines. However, these…
The industry of the future, also known as Industry 5.0, aims to modernize production tools, digitize workshops, and cultivate the invaluable human capital within the company. Industry 5.0 can't be done without fostering a workforce that is…
Foundation models have demonstrated impressive capabilities across diverse domains, while imitation learning provides principled methods for robot skill adaptation from limited data. Combining these approaches holds significant promise for…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
A major driver behind the success of modern machine learning algorithms has been their ability to process ever-larger amounts of data. As a result, the use of distributed systems in both research and production has become increasingly…
Programming social robots is challenging for novice robot programmers due to required expertise in planning, interaction design, and programming. While large language models (LLMs) hold significant promise through code generation from…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
Robotics poses a challenge for software engineering as the vast numbers of different robot platforms impose different requirements on robot control architectures. The platform dependent development of robotic applications impedes…
Robots are being applied in a vast range of fields, leading researchers and practitioners to write tasks more complex than in the past. The robot software complexity increases the difficulty of engineering the robot's software components…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…