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

Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…

Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…

This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…

Service composition is an aggregate of services often leveraged to automate the enterprise business processes. While Service Oriented Architecture (SOA) has been a forefront of service composition, services can be realized as efficient…

In this paper, we mainly investigate an integrated system operating under a software defined network (SDN) protocol. SDN is a new networking paradigm in which network intelligence is centrally administered and data is communicated via…

Many variability management techniques rely on sophisticated language extension or tools to support it. While this can provide dedicated syntax and operational mechanism but it struggling practical adaptation for the cost of adapting new…

Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot…

Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for…

Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…

The wide use of robotic systems contributed to developing robotic software highly coupled to the hardware platform running the robotic system. Due to increased maintenance cost or changing business priorities, the robotic hardware is…

Software defined networking (SDN) represents a promising networking architecture that combines central management and network programmability. SDN separates the control plane from the data plane and moves the network management to a central…

Software development automation is a long-term goal in software engineering. With the development of artificial intelligence (AI), more and more researchers are exploring approaches to software automation. They view AI systems as tools or…

Quality in software is often understood as "execution according to design purpose" whereas security means that "software will not put data or computing systems at risk of unauthorized access." There seems to be a connection between these…

Cloud computing has been emerged in the last decade to enable utility-based computing resource management without purchasing hardware equipment. Cloud providers run multiple data centers in various locations to manage and provision the…

Metarobotics aims to combine next generation wireless communication, multi-sense immersion, and collective intelligence to provide a pervasive, itinerant, and non-invasive access and interaction with distant robotized applications. Industry…

Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…

In this report, we present work towards a framework for modeling and checking behavior of spatially distributed component systems. Design goals of our framework are the ability to model spatial behavior in a component oriented, simple and…

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…

Traditional communication networks consist of large sets of vendor-specific manually configurable devices which are hardwired with specific control logic or algorithms. The resulting networks comprise distributed control plane architectures…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…