Search Results - "Software Architecture for Robotics and Automation"

Robotic world models—conceptualization, review, and engineering best practices by Sakagami, Ryo, Lay, Florian S., Dömel, Andreas, Schuster, Martin J., Albu-Schäffer, Alin, Stulp, Freek

“…The term “world model” (WM) has surfaced several times in robotics, for instance, in the context of mobile manipulation, navigation and mapping, and deep…”
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CrazyChoir: Flying Swarms of Crazyflie Quadrotors in ROS 2 by Pichierri, Lorenzo, Testa, Andrea, Notarstefano, Giuseppe

“…This paper introduces CRAZYCHOIR,, a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides a comprehensive set of…”
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SLAG: Scalable Language-Augmented Gaussian Splatting by Szilagyi, Laszlo, Engelmann, Francis, Bohg, Jeannette

“…Language-augmented scene representations hold great promise for large-scale robotics applications such as search-and-rescue, smart cities, and mining. Many of…”
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A real-time software architecture for robotics and automation by Roberts, J.M., Corke, P.I., Kirkham, R.J., Pennerath, F., Winstanley, G.J.

“…This paper describes a software architecture for real-world robotic applications. We discuss issues of software reliability, testing and realistic off-line…”
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Impact of ROS 2 Node Composition in Robotic Systems by Macenski, Steve, Soragna, Alberto, Carroll, Michael, Ge, Zhenpeng

“…The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and…”
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ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics by Testa, Andrea, Camisa, Andrea, Notarstefano, Giuseppe

“…In this letter, we introduce ChoiRbot , a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a…”
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An Expressiveness Hierarchy of Behavior Trees and Related Architectures by Biggar, Oliver, Zamani, Mohammad, Shames, Iman

“…In this letter, we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking…”
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ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators by Calvo-Fullana, Miguel, Mox, Daniel, Pyattaev, Alexander, Fink, Jonathan, Kumar, Vijay, Ribeiro, Alejandro

“…Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently…”
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Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware by Wu, Tianze, Wu, Baofu, Wang, Sa, Liu, Liangkai, Liu, Shaoshan, Bao, Yungang, Shi, Weisong

“…Autonomous Driving (AD) has entered a period of rapid development in recent years. With the amount of sensors and control logics installed increasing…”
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Improving the Reliability of Pick-and-Place With Aerial Vehicles Through Fault-Tolerant Software and a Custom Magnetic End-Effector by Garimella, Gowtham, Sheckells, Matthew, Kim, Soowon, Baraban, Gabriel, Kobilarov, Marin

“…Aerial manipulation is an emerging field in robotics with various potential applications such as transport and delivery, agriculture, and, infrastructure…”
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Cloud-Native Fog Robotics: Model-Based Deployment and Evaluation of Real-Time Applications by Wen, Long, Zhang, Yu, Rickert, Markus, Lin, Jianjie, Pan, Fengjunjie, Knoll, Alois

“…As the field of robotics evolves, robots become increasingly multi-functional and complex. Currently, there is a need for solutions that enhance flexibility…”
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Autonomous System for Tumor Resection (ASTR) - Dual-Arm Robotic Midline Partial Glossectomy by Ge, Jiawei, Kam, Michael, Opfermann, Justin D., Saeidi, Hamed, Leonard, Simon, Mady, Leila J., Schnermann, Martin J., Krieger, Axel

“…Head and neck cancers are the seventh most common cancers worldwide, with squamous cell carcinoma being the most prevalent histologic subtype. Surgical…”
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A Distributed Framework for Knowledge-Driven Root-Cause Analysis on Evolving Alarm Data-An Industrial Case Study by Wilch, Jan, Vogel-Heuser, Birgit, Mager, Jens, Cendelin, Rostislav, Fett, Thomas, Hsieh, Yu-Ming, Cheng, Fan-Tien

“…Root-cause Analysis (RCA) of alarms is a well-established research area in automated Production Systems (aPS). Many RCA algorithms have been proposed and…”
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A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation by Sakagami, Ryo, Domel, Andreas, Lehner, Peter, Riedel, Sebastian, Brunner, Sebastian G., Albu-Schaffer, Alin, Stulp, Freek

“…Mobile manipulation tasks in unstructured environments remain challenging for autonomous robots. The need to employ a diverse set of software and hardware…”
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CAD2SLAM: Adaptive Projection Between CAD Blueprints and SLAM Maps by Bayon-Gutierrez, Martin, Prieto-Fernandez, Natalia, Garcia-Ordas, Maria Teresa, Benitez-Andrades, Jose Alberto, Alaiz-Moreton, Hector, Grisetti, Giorgio

“…Robotic mobile platforms are key building blocks for numerous applications and cooperation between robots and humans is a key aspect to enhance productivity…”
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VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones by Laupre, Gabriel Francois, Sharma, Aman, Skaloud, Jan

“…Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority…”
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CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications by Scheiber, Martin, Fornasier, Alessandro, Jung, Roland, Bohm, Christoph, Dhakate, Rohit, Stewart, Christian, Steinbrener, Jan, Weiss, Stephan, Brommer, Christian

“…While low-level auto pilot stacks for aerial vehicles focus on robust control, sensing, and estimation, the continuous advancement of higher-level autonomy for…”
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Overworld: Assessing the Geometry of the World for Human-Robot Interaction by Sarthou, Guillaume

“…For a robot to interact with humans in a given environment, a key need is to understand its environment in terms of the objects composing it, the other agents…”
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Plug'n Play Task-Level Autonomy for Robotics Using POMDPs and Probabilistic Programs by Wertheim, Or, Suissa, Dan R., Brafman, Ronen I.

“…We describe AOS, the first general-purpose system for model-based control of autonomous robots using AI planning that fully supports partial observability and…”
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Ev-Conv: Fast CNN Inference on Event Camera Inputs for High-Speed Robot Perception by Durvasula, Sankeerth, Guan, Yushi, Vijaykumar, Nandita

“…Event cameras capture visual information with a high temporal resolution and a wide dynamic range. This enables capturing visual information at fine time…”
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