Related papers: Kleinkram: Open Robotic Data Management
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
Quadrupeds are robots that have been of interest in the past few years due to their versatility in navigating across various terrain and utility in several applications. For quadrupeds to navigate without a predefined map a priori, they…
Many robotic tasks require heavy computation, which can easily exceed the robot's onboard computer capability. A promising solution to address this challenge is outsourcing the computation to the cloud. However, exploiting the potential of…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a novel control framework that integrates…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
We present a scalable "Trustworthy Container Repository" (TCR) infrastructure for the storage of software container images, such as those used by Docker. Using an authenticated data structure based on index-ordered Merkle trees (IOMTs), TCR…
Global localization is essential in enabling robot autonomy, and collaborative localization is key for multi-robot systems. In this paper, we address the task of collaborative global localization under computational and communication…
Recent years have seen a significant increase in demand for robotic solutions in unstructured natural environments, alongside growing interest in bridging 2D and 3D scene understanding. However, existing robotics datasets are predominantly…
As robotic systems (RS) become more autonomous, they are becoming increasingly used in small spaces and offices to automate tasks such as cleaning, infrastructure maintenance, or resource management. In this paper, we propose iTrash, an…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
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…
Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…
Data distribution across different facilities offers benefits such as enhanced resource utilization, increased resilience through replication, and improved performance by processing data near its source. However, managing such data is…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
The most data-efficient algorithms for reinforcement learning (RL) in robotics are based on uncertain dynamical models: after each episode, they first learn a dynamical model of the robot, then they use an optimization algorithm to find a…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
With the spread of robots in unstructured, dynamic environments, the topic of path replanning has gained importance in the robotics community. Although the number of replanning strategies has significantly increased, there is a lack of…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…