Related papers: Formalisms for Robotic Mission Specification and E…
Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…
This document serves as a position paper that outlines the authors' vision for a potential pathway towards generalist robots. The purpose of this document is to share the excitement of the authors with the community and highlight a…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
There are many application fields for robotic systems including service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools…
Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…
Traditional supervised learning mostly works on individual tasks and requires training on a large set of task-specific examples. This paradigm seriously hinders the development of task generalization since preparing a task-specific example…
This paper presents a formal and comprehensive reasoning framework for robot motion risk, with a focus on locomotion in challenging unstructured or confined environments. Risk which locomoting robots face in physical spaces was not formally…
We propose a conceptual, empirically testable framework for Robot Fostering, -a curriculum-driven, governance-first approach to domestic robot deployments, emphasizing long-term, curated interaction trajectories. We formalize trajectory…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
Humans can ground natural language commands to tasks at both abstract and fine-grained levels of specificity. For instance, a human forklift operator can be instructed to perform a high-level action, like "grab a pallet" or a low-level…
Computer systems can be found everywhere: in space, in our homes, in our cars, in our pockets, and sometimes even in our own bodies. For concerns of safety, economy, and convenience, it is important that such systems work correctly.…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
Robots have gained relevance in society, increasingly performing critical tasks. Nonetheless, robot security is being underestimated. Robotics security is a complex landscape, which often requires a cross-disciplinar perspective to which…
It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…
Soft robotics is an emerging technology in which engineers create flexible devices for use in a variety of applications. In order to advance the wide adoption of soft robots, ensuring their trustworthiness is essential; if soft robots are…
We present Flipper, a natural language interface for describing high-level task specifications for robots that are compiled into robot actions. Flipper starts with a formal core language for task planning that allows expressing rich…