相关论文: A Requirements Modeling Language for the Component…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

Automating activities through robots in unstructured environments, such as construction sites, has been a long-standing desire. However, the high degree of unpredictable events in these settings has resulted in far less adoption compared to…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Manually checking models for compliance against building regulation is a time-consuming task for architects and construction engineers. There is thus a need for algorithms that process information from construction projects and report…

Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…

We present AlloyInEcore, a tool for specifying metamodels with their static semantics to facilitate automated, formal reasoning on models. Software development projects require that software systems be specified in various models (e.g.,…

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…

Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…

In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…

A robot's actions are inherently stochastic, as its sensors are noisy and its actions do not always have the intended effects. For this reason, the agent language Golog has been extended to models with degrees of belief and stochastic…

Managing requirements on quality aspects is an important issue in the development of software systems. Difficulties arise from expressing them appropriately what in turn results from the difficulty of the concept of quality itself. Building…

There is an increasing interest in research on the combination of AI techniques and methods with MDE. However, there is a gap between AI and MDE practices, as well as between researchers and practitioners. This paper tackles this gap by…

It is a long-standing desire of industry and research to automate the software development and testing process as much as possible. In this process, requirements engineering (RE) plays a fundamental role for all other steps that build on…

This paper discusses a model-based approach to validate software requirements in agile development processes by simulation and in particular automated testing. The use of models as central development artifact needs to be added to the…

The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed…

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…

[Context&Motivation]Due to the managerial ,operational and evolutionary independence of constituent systems (CSs) in a System of Systems (SoS) context, top-down and linear requirements engineering (RE) approaches are insufficient. RE…

Software developers usually start coding an application with no formal architecture in mind and relying on intuition and experience instead of on well-known design patters. A different approach is recommended for the development of IoT…

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