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

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…

Efficient allocation of finite resources is a crucial problem in a wide variety of on-demand smart city applications. Service requests often appear randomly over time and space with varying intensity. Resource provisioning decisions need to…

This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…

We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…

Soft robotics aims to develop robots able to adapt their behavior across a wide range of unstructured and unknown environments. A critical challenge of soft robotic control is that nonlinear dynamics often result in complex behaviors hard…

System dynamics (SD) is an effective approach for helping reveal the temporal behavior of complex systems. Although there have been recent developments in expanding SD to include systems' spatial dependencies, most applications have been…

Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…

The use of Domain-Specific Languages (DSLs) is a promising field for the development of tools tailored to specific problem spaces, effectively diminishing the complexity of hand-made software. With the goal of making models as precise,…

We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…

The methodology of Software-Defined Robotics hierarchical-based and stand-alone framework can be designed and implemented to program and control different sets of robots, regardless of their manufacturers' parameters and specifications,…

Future self-adaptive robots are expected to operate in highly dynamic environments while effectively managing uncertainties. However, identifying the sources and impacts of uncertainties in such robotic systems and defining appropriate…

This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…

Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…

As in the car industry for quite some time, dynamic simulation of complete vehicles is being practiced more and more in the development of off-road machinery. However, specific questions arise due not only to company structure and size, but…

Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…

Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators known a priori to be susceptible to failure within the…

The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…

In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to…

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…