相关论文: Impact of ROS 2 Node Composition in Robotic System…
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
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…
In nature, biological organisms jointly evolve both their morphology and their neurological capabilities to improve their chances for survival. Consequently, task information is encoded in both their brains and their bodies. In robotics,…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as…
Composition is an important feature of a specification language, as it enables the design of a complex system in terms of a product of its parts. Decomposition is equally important in order to reason about structural properties of a system.…
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…
With its growing use in industry, ROS is rapidly becoming a standard in robotics. While developments in ROS 2 show promise, the slow adoption cycles in industry will push widespread ROS 2 industrial adoption years from now. ROS will prevail…
The Robot Operating System (ROS) streamlines human processes, increasing the efficiency of various production tasks. However, the security of data transfer operations in ROS is still in its immaturity. Securing data exchange between several…
Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is…
Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require…