Related papers: Designing for Distributed Heterogeneous Modularity…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
GenGrid is a novel comprehensive open-source, distributed platform intended for conducting extensive swarm robotic experiments. The modular platform is designed to run swarm robotics experiments that are compatible with different types of…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
This document presents the study conducted during the European Moon Rover System Pre-Phase A project, in which we have developed a lunar rover system, with a modular approach, capable of carrying out different missions with different…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
Monitoring large, unknown, and complex environments with autonomous robots poses significant navigation challenges, where deploying teams of heterogeneous robots with complementary capabilities can substantially improve both mission…
Current autonomic computing systems are ad hoc solutions that are designed and implemented from the scratch. When designing software, in most cases two or more patterns are to be composed to solve a bigger problem. A composite design…
Now a day's Heterogeneous wireless network is a promising field of research interest. Various challenges exist in this hybrid combination like load balancing, resource management and so on. In this paper we introduce a reliable load…
Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in which fragmented and monolithic designs…
Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…
A key objective for ubiquitous environments is to enable system interoperability between system's components that are highly heterogeneous. In particular, the challenge is to embed in the system architecture the necessary support to cope…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…