相关论文: ROS Rescue : Fault Tolerance System for Robot Oper…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
Nowadays, prognostics-aware systems are increasingly used in many systems and it is critical for sustaining autonomy. All engineering systems, especially robots, are not perfect. Absence of failures in a certain time is the perfect system…
Ensuring uninterrupted data flow in modern networks requires robust fault-tolerant mechanisms, especially in environments where reliability and responsiveness are critical. This paper presents the design and simulation of a fault-tolerant…
Robot systems are increasingly integrating into numerous avenues of modern life. From cleaning houses to providing guidance and emotional support, robots now work directly with humans. Due to their far-reaching applications and…
We study implementations of basic fault-tolerant primitives, such as consensus and registers, in message-passing systems subject to process crashes and a broad range of communication failures. Our results characterize the necessary and…
We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…
Vision-Language-Action (VLA) models have recently advanced robotic manipulation by translating natural-language instructions and visual observations into control actions. However, existing VLAs are primarily trained on successful expert…
To prepare students for upcoming trends and challenges, it is important to teach them about the helpful and important aspects of modern technologies, such as robotics. However, classic study programs often fail to prepare students for…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Hazard radiation can lead the system fault therefore Fault Tolerance is required. Fault Tolerant is a system, which is designed to keep operations running, despite the degradation in the specific module is happening. Many fault tolerances…
Robotic manipulators are widely used in various industries for complex and repetitive tasks. However, they remain vulnerable to unexpected hardware failures. In this study, we address the challenge of enabling a robotic manipulator to…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Multi-robot coordination based on large language models (LLMs) has attracted growing attention, since LLMs enable the direct translation of natural language instructions into robot action plans by decomposing tasks and generating high-level…
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of…
Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…