相关论文: Towards Interactive, Incremental Programming of RO…

The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…

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…

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…

This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable…

In traditional robot behavior programming, the edit-compile-simulate-deploy-run cycle creates a large mental disconnect between program creation and eventual robot behavior. This significantly slows down behavior development because there…

In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…

Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…

We would like industrial robots to handle unstructured environments with cameras and perception pipelines. In contrast to traditional industrial robots that replay offline-crafted trajectories, online behavior planning is required for these…

Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…

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…

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…

We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…

Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…

CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally developed for the lesser known Fawkes…

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…

The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13) was held in conjunction with the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 2013…

Using natural language to give instructions to robots is challenging, since natural language understanding is still largely an open problem. In this paper we address this problem by restricting our attention to commands modeled as one…

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),…

Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…