Related papers: RSLCPP -- Deterministic Simulations Using ROS 2
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
Cyber-physical systems (CPS) designed in simulators, often consisting of multiple interacting agents (e.g. in multi-agent formations), behave differently in the real-world. We want to verify these systems during runtime when they are…
Planar pushing remains a challenging research topic, where building the dynamic model of the interaction is the core issue. Even an accurate analytical dynamic model is inherently unstable because physics parameters such as inertia and…
Cyber-physical systems (CPS) designed in simulators behave differently in the real-world. Once they are deployed in the real-world, we would hence like to predict system failures during runtime. We propose robust predictive runtime…
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…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
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…
The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable…
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
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…
Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL based on realistically simulated robots in…
This paper demonstrates the integration model-based design approaches or vehicle control, with validation in a freely available open-source simulator. Continued interest in autonomous vehicles and their deployment is driven by the potential…
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)…
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…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…