Related papers: Formalisms for Robotic Mission Specification and E…
Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…
This paper presents a formal definition and explicit representation of robot motion risk. Currently, robot motion risk has not been formally defined, but has already been used in motion and path planning. Risk is either implicitly…
Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
Formal Methods are mathematically-based techniques for software design and engineering, which enable the unambiguous description of and reasoning about a system's behaviour. Autonomous systems use software to make decisions without human…
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
While a number of excellent review articles on military robots have appeared in existing literature, this paper focuses on a distinct sub-space of related problems: small military robots organized into moderately sized squads, operating in…
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
The research community is puzzled with words like skill, action, atomic unit and others when describing robots' capabilities. However, for giving the possibility to integrate capabilities in industrial scenarios, a standardization of these…
Nowadays, the construction of a complex robotic system requires a high level of specialization in a large number of diverse scientific areas. It is reasonable that a single researcher cannot create from scratch the entirety of this system,…
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Evaluating learned robot control policies to determine their physical task-level capabilities costs experimenter time and effort. The growing number of policies and tasks exacerbates this issue. It is impractical to test every policy on…
In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded,…
Context and motivation: In recent years, behavior trees have gained growing interest within the robotics community as a specification and control switching mechanism for the different tasks that form a robotics mission. Problem: Given the…