相关论文: YASMIN: Yet Another State MachINe library for ROS …

We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes,…

Multi-Robot System (MRS) is a complex system that contains many different software and hardware components. This main problem addressed in this article is the MRS design complexity. The proposed solution provides a modular modeling and…

We present ensmallen, a fast and flexible C++ library for mathematical optimization of arbitrary user-supplied functions, which can be applied to many machine learning problems. Several types of optimizations are supported, including…

In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, memory, computation, and actuation. Regardless of whether…

We present an open-source simulation framework for optically detected magnetic resonance, developed in Python. The framework allows users to construct, manipulate, and evolve multipartite quantum systems that consist of spins and electronic…

Chemistry laboratory automation aims to increase throughput, reproducibility, and safety, yet many existing systems still depend on frequent human intervention. Advances in robotics have reduced this dependency, but without a structured…

Real-time execution is essential for cyber-physical systems such as robots. These systems operate in dynamic real-world environments where even small delays can undermine responsiveness and compromise performance. Asynchronous inference has…

We introduce a C++ header-only library that is used to solve the axion equation of motion, MiMeS. MiMeS makes no assumptions regarding the cosmology and the mass of the axion, which allows the user to consider various cosmological scenarios…

Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is…

Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…

Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…

ASYNC is a framework that supports the implementation of asynchrony and history for optimization methods on distributed computing platforms. The popularity of asynchronous optimization methods has increased in distributed machine learning.…

Generalizing language-conditioned robotic policies to new tasks remains a significant challenge, hampered by the lack of suitable simulation benchmarks. In this paper, we address this gap by introducing GemBench, a novel benchmark to assess…

We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…

The intelligent robotics community usually organizes knowledge into symbolic and sub-symbolic levels. These two levels establish the set of symbols and rules for manipulating knowledge based on their (symbol system - dictionary). Thus, the…

We describe glsim, a C++ library designed to provide routines to perform basic housekeeping tasks common to a very wide range of simulation programs, such as reading simulation parameters or reading and writing self-describing binary files…

Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…

Modeling a robust control system with a precise GPS-based state estimation capability in simulation can be useful in field navigation applications as it allows for testing and validation in a controlled environment. This testing process…

In this paper we introduce a knowledge engine, which learns and shares knowledge representations, for robots to carry out a variety of tasks. Building such an engine brings with it the challenge of dealing with multiple data modalities…

ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…