11 accepted papers
This work presents a novel approach for the online supervision of robotic systems assembled from multiple complex components with skillset-based architectures, using Petri nets (PN). Predictive runtime verification is performed, which warns the system user about actions that would lead to the violat…
Performing a complex autonomous mission with a multi-robot system requires to integrate several deliberative approaches to perform task allocation, optimization, and execution control. Implementing such a deliberative architecture is a complex task: it requires the developer to master the decision a…
In this paper, we study the effects of impaired communications on the performances of auction-based task allocation in a dynamic surveillance scenario. We propose a novel connectivity term to include in the bid valuation formula, that aims at improving communications in the multi-robot team. We eval…
This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown environments and provide an associated colored 3D mesh represent…
In this paper, we propose a formal language to specify robot skills, i.e. the elementary behaviours or functions provided by the robot platform in order to perform an autonomous mission. The advantage of the language we propose is that it integrates a wide range of elements that allows to define and…
We consider a problem minimizing the total duration of accomplishing missions performed by heterogeneous vehicles. The problem respects constraints related to vehicles' capabilities and energy capacities. The goal is to determine the best routes of each vehicle deployed by choosing which waypoints t…
Fault-tolerant architectures are mandatory to ensure the robustness of autonomous robots performing missions in complex and uncertain environments. The first step of a fault-tolerant mechanism is the detection of a faulty behavior of the system. It is then important to provide tools to help robot de…
Field multi-robot missions face numerous unavoidable disturbances, such as delays in executing tasks and intermittent communications. Coping with such disturbances requires to endow the robots with high-level decision skills. We present a distributed decision architecture based first on a hybrid pla…
Generic control of wheel-on-leg robots on arbitrary uneven terrains is a challenging task due to the complexity of the robot dynamics, surface interactions, and environmental structures. This paper deals with the control of a wheel-on-leg robot with passive and active internal compliance that enable…
Providing guarantees on the system behavior is mandatory in order to let the robots enter our every-day life. Among these guarantees, proving the fulfillment of real-time constraints on the software is a key issue, as their violation could result into unexpected and unsafe behaviors. In this paper,…
In this paper, we propose the use of compliant elements in the actuation of a wheel-legged robot in order to improve its locomotion properties on unknown and irregular terrains. Detection of the obstacles is achieved by a synergistic use of the structural compliances. The robot's capabilities to sur