相关论文: ROS Rescue : Fault Tolerance System for Robot Oper…
The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors.…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
A mobile robot deployed for remote inspection, surveying or rescue missions can fail due to various possibilities and can be hardware or software related. These failure scenarios necessitate manual recovery (self-rescue) of the robot from…
Failure detection is a fundamental building block for ensuring fault tolerance in large scale distributed systems. There are lots of approaches and implementations in failure detectors. Providing flexible failure detection in off-the-shelf…
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based interactive computational environment affording scientific…
Sensor networks provide services to a broad range of applications ranging from intelligence service surveillance to weather forecasting. Most of the sensor networks are terrestrial, however much of our planet is covered by water and…
Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…
Systems of systems (SoSs) are particularly vulnerable to faults and other threats to their dependability, but frequently inhabit domains that demand high levels of dependability. For this reason fault tolerance analysis is important in SoS…
The idle computers on a local area, campus area, or even wide area network represent a significant computational resource---one that is, however, also unreliable, heterogeneous, and opportunistic. This type of resource has been used…
Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…
In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtlebot3 with Robotic Operating System (ROS)…
Multi-agent systems (MAS) are increasingly capable of tackling complex real-world tasks, yet their reliance on inter-agent coordination, tool use, and long-horizon reasoning makes error recognition particularly challenging. Minor errors can…
Effective error detection is crucial to prevent task disruption and maintain user trust. Traditional methods often rely on task-specific models or user reporting, which can be inflexible or slow. Recent research suggests social signals,…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
Fault tolerance in multi-core architecture has attracted attention of research community for the past 20 years. Rapid improvements in the CMOS technology resulted in exponential growth of transistor density. It resulted in increased…
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…
Despite great advances in what robots can do, they still experience failures in human-robot collaborative tasks due to high randomness in unstructured human environments. Moreover, a human's unfamiliarity with a robot and its abilities can…