相关论文: Technical Development of a Semi-Autonomous Robotic…

Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…

We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot…

The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper. The two areas are brought together in establishing an interdisciplinary interface that contributes to advancing the field of system autonomy,…

A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…

In modern society, service robots are increasingly recognized for their wide range of practical applications. In large and crowded social spaces, such as museums and hospitals, these robots are required to safely move in the environment…

Automation in construction has the potential to expand the technological landscape of labor intensive tasks, and bring gains in efficiency and productivity to sustain global competitiveness. In this paper we propose a task-level approach…

Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial…

Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.

Rubenstein et al. present an interesting system of programmable self-assembled structure formation using 1000 Kilobot robots. The paper claims to advance work in artificial swarms similar to capabilities of natural systems besides being…

This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…

Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…

There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…

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)…

Due to the complexity of robotics, the reproducibility of results and experiments is one of the fundamental problems in robotics research. While the problem has been identified by the community, the approaches that address the problem…

Inspired by widely-used techniques of causal modelling in risk, failure, and accident analysis, this work discusses a compositional framework for risk modelling. Risk models capture fragments of the space of risky events likely to occur…

Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…

Historically, scalability has been a major challenge to the successful application of semidefinite programming in fields such as machine learning, control, and robotics. In this paper, we survey recent approaches for addressing this…

Robotics software is pushing the limits of software engineering practice. The 3rd International Workshop on Robotics Software Engineering held a panel on "the best practices for robotic software engineering". This article shares the key…

Robotics simulation plays an important role in the design, development, and verification and validation of robotic systems. Recent studies have shown that simulation may be used as a cheaper, safer, and more reliable alternative to manual,…

There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…