相关论文: Software-Defined Robotics -- Idea & Approach

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

Teams of heterogeneous autonomous robots become increasingly important due to their facilitation of various complex tasks. For such heterogeneous robots, there is currently no consistent way of describing the functions that each robot…

In the past years, software reverse engineering dealt with source code understanding. Nowadays, it is levered to software requirements abstract level, supported by feature model notations, language independent, and simpler than the source…

With the emergence of large-scale data-intensive high-performance applications, new I/O challenges appear in the efficient management of petabytes of information in High-Performance Computing (HPC) environments. Data management environments…

The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…

This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…

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…

Cyber-Physical Systems (CPS) revolutionize various application domains with integration and interoperability of networking, computing systems, and mechanical devices. Due to its scale and variety, CPS faces a number of challenges and opens…

This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets…

Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants bias their sampling using various…

Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…

Software-defined networking (SDN) is the concept of decoupling the control and data planes to create a flexible and agile network, assisted by a central controller. However, the performance of SDN highly depends on the limitations in the…

The most important way to achieve higher performance in computer systems is through heterogeneous computing, i.e., by adopting hardware platforms containing more than one type of processor, such as CPUs, GPUs, and FPGAs. Several types of…

Reconfigurable computing refers to the use of processors, such as Field Programmable Gate Arrays (FPGAs), that can be modified at the hardware level to take on different processing tasks. A reconfigurable computing platform describes the…

Industrial cyber-physical systems (CPS) have gained enormous attention of manufacturers in recent years due to their automation and cost reduction capabilities in the fourth industrial revolution (Industry 4.0). Such an industrial network…