相关论文: Adaptive Fault Tolerant Execution of Multi-Robot M…

Multi-Robot and Multi-Agent Systems demonstrate collective (swarm) intelligence through systematic and distributed integration of local behaviors in a group. Agents sharing knowledge about the mission and environment can enhance performance…

Human-robot teams have the ability to perform better across various tasks than human-only and robot-only teams. However, such improvements cannot be realized without proper task allocation. Trust is an important factor in teaming…

Behavior Trees (BT) are becoming increasingly popular in the robotics community. The BT tool is well suited for decision-making applications allowing a robot to perform complex behavior while being explainable to humans as well. Verifying…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

Multi-task learning (MTL) aims at improving the generalization performance of several related tasks by leveraging useful information contained in them. However, in industrial scenarios, interpretability is always demanded, and the data of…

Cyber-physical production systems increasingly involve collaborative robotic missions, requiring more demand for robust and safe missions. Industries rely on risk assessments to identify potential failures and implement measures to mitigate…

Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…

Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…

Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short…

Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

Designing fault tolerance mechanisms for multi-agent systems is a notoriously difficult task. In this paper we present an approach to formal development of a fault tolerant multi-agent system by refinement in Event-B. We demonstrate how to…

We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…

We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…

A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level…

Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…

This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…

For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…