相关论文: Automatic Extraction of Time-windowed ROS Computat…
Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relationships facilitates the prediction of human behaviours and…
Detecting and resolving violations of temporal constraints in real-time systems is both, time-consuming and resource-intensive, particularly in complex software environments. Measurement-based approaches are widely used during development,…
The deployment of mobile robots in large-scale, multi-floor environments demands navigation systems that achieve spatial scalability without compromising local kinematic precision. Traditional navigation stacks, reliant on monolithic…
Ransomware poses a serious and fast-acting threat to critical systems, often encrypting files within seconds of execution. Research indicates that ransomware is the most reported cybercrime in terms of financial damage, highlighting the…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
The recent apparition of mobile wireless sensor aware to their physical environment and able to process information must allow proposing applications able to take into account their physical context and to react according to the changes of…
In this article, we explore the problem of the region of synchronization (ROS) for complex networks with nonlinear dynamics. Given a pair of state- and target- sets, our goal is to estimate the ROS such that the trajectories originating…
Open source projects are adopting faster release cycles that reflect various changes. Therefore, comprehending the effects of these changes on software's architecture over the releases becomes necessary. However, it is challenging to keep…
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 describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such…
In many robotic manipulation tasks, the robot repeatedly solves motion-planning problems that differ mainly in the location of the goal object and its associated obstacle, while the surrounding workspace remains fixed. Prior works have…
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…
In response to newly found security vulnerabilities, or as part of a moving target defense, a fast and safe control software update scheme for networked control systems is highly desirable. We here develop such a scheme for intelligent…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
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…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
Cyber-physical systems (CPSs) in modern real-time applications integrate numerous control units linked through communication networks, each responsible for executing a mix of real-time safety-critical and non-critical tasks. To ensure…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…