Related papers: Simplifying ROS2 controllers with a modular archit…
Modular autonomous driving systems must coordinate global progress objectives with local safety-driven reactions under imperfect sensing and strict real-time constraints. This paper presents a ROS2-native arbitration module that…
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…
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…
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…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
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…
In this chapter we discuss the problem of master failure in ROS1.0 and its impact on robotic deployments in the real world. We address this issue in this tutorial chapter where we outline, design and demonstrate a fault tolerant mechanism…
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,…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as…
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…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
With advances in informatics applied to materials science, predicting the physical properties of numerous materials has become increasingly feasible, creating a growing demand for their experimental validation. It has been expected that the…
We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
Data-driven controls using Gaussian process regression have recently gained much attention. In such approaches, system identification by Gaussian process regression is mostly followed by model-based controller designs. However, the outcomes…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…