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The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
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…
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…
It is imperative to develop an intrusion prevention system (IPS), specifically designed for autonomous robotic systems. This is due to the unique nature of these cyber-physical systems (CPS), which are not merely typical distributed…
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…
When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Learning-based controllers, such as diffusion policies and vision-language action models, often generate low-frequency or discontinuous robot state changes. Achieving smooth reference tracking requires a low-level controller that converts…
Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…
This paper presents a novel method for learning reward functions for robotic motions by harnessing the power of a CLIP-based model. Traditional reward function design often hinges on manual feature engineering, which can struggle to…
This study presents a control framework leveraging vision language models (VLMs) for multiple tasks and robots. Notably, existing control methods using VLMs have achieved high performance in various tasks and robots in the training…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…
Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed,…
Knowledge representation and reasoning capacities are vital to cognitive robotics because they provide higher level cognitive functions for reasoning about actions, environments, goals, perception, etc. Although Answer Set Programming (ASP)…