相关论文: Aerostack2: A Software Framework for Developing Mu…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…
In this paper, a new hierarchical software architecture is proposed to improve the safety and reliability of a safety-critical drone system from the perspective of its source code. The proposed architecture uses formal verification methods…
This paper presents an implementation of autonomous navigation functionality based on Robot Operating System (ROS) on a wheeled differential drive mobile platform called Eddie robot. ROS is a framework that contains many reusable software…
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…
As artificial intelligence (AI) technology advances, ensuring the robustness and safety of AI-driven systems has become paramount. However, varying perceptions of robustness among AI developers create misaligned evaluation metrics,…
This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated…
We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics to train a robot directly from joint states, using traditional robotic tools. We use an state-of-the-art implementation of the Proximal Policy…
Cloud robotics is a field of robotics that attempts to invoke Cloud technologies such as Cloud computing, Cloud storage, and other Internet technologies centered around the benefits of converged infrastructure and shared services for…
Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge stems from the need to balance racing speed…
Testing aerial robots in tasks such as pickup-and-delivery and surveillance significantly benefits from high energy efficiency and scalability of the deployed robotic system. This paper presents MochiSwarm, an open-source testbed of…
UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability,…
Model-based development enables quicker prototyping, earlier experimentation and validation of design intents. For a multi-agent system with complex asynchronous interactions and concurrency, formal verification, model-checking in…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
Compact robotic platforms with powerful compute and actuation capabilities are key enablers for practical, real-world deployments of multi-agent research. This article introduces a tightly integrated hardware, control, and simulation…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
This paper contributes the Aerial Gym Simulator, a highly parallelized, modular framework for simulation and rendering of arbitrary multirotor platforms based on NVIDIA Isaac Gym. Aerial Gym supports the simulation of under-, fully- and…
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…