相关论文: YASMIN: Yet Another State MachINe library for ROS …
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Commercial-Off-The-Shelf heterogeneous platforms provide immense computational power, but are difficult to program and to correctly use when real-time requirements come into play: A sound configuration of the operating system scheduler is…
Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…
Designing robotic systems to act autonomously in unforeseen environments is a challenging task. This work presents a novel approach to use formal verification, specifically Statistical Model Checking (SMC), to verify system properties of…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
YAMLE: Yet Another Machine Learning Environment is an open-source framework that facilitates rapid prototyping and experimentation with machine learning (ML) models and methods. The key motivation is to reduce repetitive work when…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
This paper presents an upgraded, real world application oriented version of gym-gazebo, the Robot Operating System (ROS) and Gazebo based Reinforcement Learning (RL) toolkit, which complies with OpenAI Gym. The content discusses the new ROS…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
A unified mathematical model for synchronisation and swarming has recently been proposed. Each system entity, called a "swarmalator", coordinates its internal phase and location with the other entities in a way that these two attributes are…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
We introduce Mars 2.0 for modeling, analysis, verification and code generation of Cyber-Physical Systems. Mars 2.0 integrates Mars 1.0 with several important extensions and improvements, allowing the design of cyber-physical systems using…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
Simulation software is a powerful tool for robotics research, allowing the virtual representation of the real world. However with the rise of the Robot Operating System (ROS), there are new simulation software packages that have not been…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…