相关论文: Towards Robot-independent Manipulation Behavior De…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
The Sixth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'15) was held September 28, 2015 in Hamburg (Germany), as part of the IROS 2015 conference. The main topics of the workshop were…
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.…
In this paper we apply a model-driven engineering approach to designing domain-specific solutions for robot control system development. We present a case study of the complete process, including identification of the domain meta-model,…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
Domain specific languages (DSLs) allow domain experts to model parts of the system under development in a problem-oriented notation that is well-known in the respective domain. The introduction of a DSL is often accompanied the desire to…
A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…
Manually creating Planning Domain Definition Language (PDDL) descriptions is difficult, error-prone, and requires extensive expert knowledge. However, this knowledge is already embedded in engineering models and can be reused. Therefore,…
Service robots act in open-ended, natural environments. Therefore, due to combinatorial explosion of potential situations, it is not possible to foresee all eventualities in advance during robot design. In addition, due to limited resources…
Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…
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…
The Fifth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'14) was held in conjunction with the 2014 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR…
Self driving laboratories (SDLs) are highly automated research environments that leverage advanced technologies to conduct experiments and analyze data with minimal human involvement. These environments often involve delicate laboratory…
An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated…
Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…
In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free…
The focus of this work is to enumerate the various approaches and algorithms that center around application of reinforcement learning in robotic ma- ]]nipulation tasks. Earlier methods utilized specialized policy representations and human…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…