Search Results - Software Architecture for Robotic and Automation

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…”
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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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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…”
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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 necessary…”
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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…”
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An Expressiveness Hierarchy of Behavior Trees and Related Architectures by Biggar, Oliver, Zamani, Mohammad, Shames, Iman

“…) to other action selection architectures. Taking inspiration from the analogous comparisons of structural programming methodologies, we formalise the concept of 'expressiveness…”
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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 inspection…”
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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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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

“… The need to employ a diverse set of software and hardware components to solve the various subtasks inevitably increases system complexity…”
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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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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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Ev-Conv: Fast CNN Inference on Event Camera Inputs for High-Speed Robot Perception by Durvasula, Sankeerth, Guan, Yushi, Vijaykumar, Nandita

“… This makes event cameras highly useful for high-speed robotics tasks involving rapid motion, such as high-speed perception, object tracking, and control…”
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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.

“… This allows Plug'n Play behavior, which facilitates incremental and modular system design. Extensive experiments on real and simulated robotic platforms demonstrate…”
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Fields2Cover: An open-source coverage path planning library for unmanned agricultural vehicles by Mier, Gonzalo, Valente, Joao, de Bruin, Sytze

“… The library features a modular and extensible architecture that supports various vehicles and can be used for a variety of applications, including farms…”
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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 and reduce labor cost…”
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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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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 reinforcement learning…”
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FRobsRL: A Flexible Robotics Reinforcement Learning Library by Fajardo, Jose Manuel, Roldan, Felipe Gonzalez, Realpe, Sebastian, Hernandez, Juan D., Ji, Ze, Cardenas, Pedro-F.

“…Reinforcement learning (RL) has become an interesting topic in robotics applications as it can solve complex problems in specific scenarios…”
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Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge by Wittmann, Jonas, Pachler, Florian, Ruhkamp, Patrick, Jung, Hyunjun, Sygulla, Felix, Rixen, Daniel

“… The current research efforts on sensitive collaborative robots and their control are a promising step towards assembly automation…”
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