Search Results - "software tools for robot programming"

Message flow analysis with complex causal links for distributed ROS 2 systems by Bédard, Christophe, Lajoie, Pierre-Yves, Beltrame, Giovanni, Dagenais, Michel

“…Distributed robotic systems rely heavily on the publish–subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating…”
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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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ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2 by Bedard, Christophe, Lutkebohle, Ingo, Dagenais, Michel

“…Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard,…”
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Deploying and Evaluating LLMs to Program Service Mobile Robots by Hu, Zichao, Lucchetti, Francesca, Schlesinger, Claire, Saxena, Yash, Freeman, Anders, Modak, Sadanand, Guha, Arjun, Biswas, Joydeep

“…Recent advancements in large language models (LLMs) have spurred interest in using them for generating robot programs from natural language, with promising…”
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Automatic Geometric Decomposition for Analytical Inverse Kinematics by Ostermeier, Daniel, Kulz, Jonathan, Althoff, Matthias

“…Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides…”
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An Image-Guided Robotic System for Transcranial Magnetic Stimulation: System Development and Experimental Evaluation by Liu, Yihao, Zhang, Jiaming, Ai, Letian, Tian, Jing, Sefati, Shahriar, Liu, Huan, Martin-Gomez, Alejandro, Kheradmand, Amir, Armand, Mehran

“…Transcranial magnetic stimulation is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience, neurology…”
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CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control by Jeon, Se Hwan, Hong, Seungwoo, Lee, Ho Jae, Khazoom, Charles, Kim, Sangbae

“…The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based…”
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RadaRays: Real-Time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-Accelerated Ray Tracing by Mock, Alexander, Magnusson, Martin, Hertzberg, Joachim

“…RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection,…”
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Motion Comparator: Visual Comparison of Robot Motions by Wang, Yeping, Peseckis, Alexander, Jiang, Zelong, Gleicher, Michael

“…Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing…”
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From Composable Models to Correct-by-Construction Software for Contact-Rich Robotic Mobile-Manipulation Tasks by Schneider, Sven, Kalagaturu, Vamsi, Bruyninckx, Herman, Hochgeschwender, Nico

“…Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints…”
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STLCG++: A Masking Approach for Differentiable Signal Temporal Logic Specification by Kapoor, Parv, Mizuta, Kazuki, Kang, Eunsuk, Leung, Karen

“…Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems…”
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OHM: GPU Based Occupancy Map Generation by Stepanas, Kazys, Williams, Jason, Hernandez, Emili, Ruetz, Fabio, Hines, Thomas

“…Occupancy grid maps (OGMs) are fundamental to most systems for autonomous robotic navigation. However, CPU-based implementations struggle to keep up with data…”
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A High-Fidelity Simulation Platform for Industrial Manufacturing by Incorporating Robotic Dynamics Into an Industrial Simulation Tool by Zhang, Zengjie, Dershan, Ram, Enayati, Amir M. Soufi, Yaghoubi, Marjan, Richert, Dean, Najjaran, Homayoun

“…Simulation provides an efficient and safe evaluation solution for industrial automation to pretest software before deploying it in real systems. However, only…”
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ros2tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2 by Bedard, Christophe, Lutkebohle, Ingo, Dagenais, Michel

“…Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard,…”
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navlie: A Python Package for State Estimation on Lie Groups by Cossette, Charles Champagne, Cohen, Mitchell, Korotkine, Vassili, Del Castillo Bernal, Arturo, Shalaby, Mohammed Ayman, Forbes, James Richard

“…The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie…”
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Understanding Xacro Misunderstandings by Albergo, Nicholas, Rathi, Vivek, Ore, John-Paul

“…The Xacro XML macro language can be used to augment the Universal Robot Description Format (URDF) and is part of a critical toolchain from geometric…”
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