Related papers: DORA: Dataflow Oriented Robotic Architecture
Decentralized machine learning is a promising emerging paradigm in view of global challenges of data ownership and privacy. We consider learning of linear classification and regression models, in the setting where the training data is…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System…
Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…
Flow-matching methods for 3D shape assembly learn point-wise velocity fields that transport parts toward assembled configurations, yet they receive no explicit guidance about which cross-part interactions should drive the motion. We…
Commercial autonomous machines is a thriving sector, one that is likely the next ubiquitous computing platform, after Personal Computers (PC), cloud computing, and mobile computing. Nevertheless, a suitable computing substrate for…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline.…
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…
Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large…
Developing efficient Vision-Language-Action (VLA) policies is crucial for practical robotics deployment, yet current approaches face prohibitive computational costs and resource requirements. Existing diffusion-based VLA policies require…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Since its introduction, the Grid computing paradigm has been widely adopted both in scientific and also in industrial areas. The main advantage of the Grid computing paradigm is the ability to enable, in a transparent way, the sharing and…
Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism,…
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…
The Dynamic Source Routing protocol (DSR) is a simple and efficient routing protocol designed specifically for use in multi-hop wireless ad hoc networks of mobile nodes. Preemptive DSR(PDSR) is the modified version of DSR. The main…
Distributed resource allocation (DRA) is fundamental to modern networked systems, spanning applications from economic dispatch in smart grids to CPU scheduling in data centers. Conventional DRA approaches require reliable communication, yet…
When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
Autonomic computing has been proposed recently as a way to address the difficult management of applications whose complexity is constantly increasing. Autonomous applications will have to be especially flexible and be able to monitor…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…