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ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
In this paper, we present a grammar-based natural language framework for robot programming, specifically for pick-and-place tasks. Our approach uses a custom dictionary of action words, designed to store together words that share meaning,…
Robots are integrating more huge-size models to enrich functions and improve accuracy, which leads to out-of-control computing pressure. And thus robots are encountering bottlenecks in computing power and battery capacity. Fog or cloud…
Rule-based adaptation is a foundational approach to self-adaptation, characterized by its human readability and rapid response. However, building high-performance and robust adaptation rules is often a challenge because it essentially…
This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable…
Hybrid systems are increasingly used in critical applications such as medical devices, infrastructure systems, and autonomous vehicles. Lince is an academic tool for specifying and simulating such systems using a C-like language with…
ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software's…
In this paper we show how rule-based decision making can be combined with traditional motion planning techniques to achieve human-like behavior of a self-driving vehicle in complex traffic situations. We give and discuss examples of…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
Teaching Robotics is about empowering students to create and configure robotics devices and program computers to nurture in students the skill sets necessary to play an active role in society. The robot in Figure 1 focuses on the design of…
Rule-based explanations provide simple reasons explaining the behavior of machine learning classifiers at given points in the feature space. Several recent methods (Anchors, LORE, etc.) purport to generate rule-based explanations for…
We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…
Robotics can be defined as the connection of perception to action. Taking this further, this project aims to drive a robot using an automated computer vision embedded system, connecting the robot's vision to its behavior. In order to…
In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both…
Research, innovation and practical capital investment have been increasing rapidly toward the realization of autonomous physical agents. This includes industrial and service robots, unmanned aerial vehicles, embedded control devices, and a…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
Humans show an innate capability to identify tools to support specific actions. The association between objects parts and the actions they facilitate is usually named affordance. Being able to segment objects parts depending on the tasks…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…