相关论文: Dealing with Run-Time Variability in Service Robot…

This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the…

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…

There is currently a large amount of robotics software using the component-oriented programming paradigm. However, the rapid growth in number and complexity of components may compromise the scalability and the whole lifecycle of robotics…

Rigid body dynamics algorithms play a crucial role in several components of a robot controller and simulations. Real time constraints in high frequency control loops and time requirements of specific applications demand these functions to…

Model-driven software development is a promising way to cope with the complexity of system integration in advanced robotics, as it already demonstrated its benefits in domains with comparably challenging system integration requirements.…

With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…

Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…

Autonomous robots combine skills to form increasingly complex behaviors, called missions. While skills are often programmed at a relatively low abstraction level, their coordination is architecturally separated and often expressed in…

The First International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob'10) was held at the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), October 2010 in Taipei, Taiwan. The…

Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic…

In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe…

Socially Assistive Robots navigate highly sensible environments, which place high demands on safety and communication with users. The reasoning behind an SAR's actions must be transparent at any time to earn users' trust and acceptance.…

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…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems for robotic…

This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…

Proceedings of the Second International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'11), held in conjunction with the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011),…

This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which…

It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…

Quality requirements typically differ among software features, e.g., due to different usage contexts of the features, different impacts of related quality deficiencies onto overall user satisfaction, or long-term plans of the developing…