5 accepted papers
Robot software is abundant with variables that represent real-world physical units (e.g., meters, seconds). Operations over different units (e.g., adding meters and seconds) may be incorrect and can lead to dangerous system misbehaviors; manually detecting such mistakes is challenging. Current softw…
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 representations to simulation, visualization, and system execution. However, mem-bers of the robotics community, especially newcomers, struggle to trou…
This work presents a study of robot software using the Robot Operating System (ROS), focusing on detecting inconsistencies in physical unit manipulation. We discuss how dimensional analysis, the rules governing how physical quantities are combined, can be used to detect inconsistencies in robot soft…
Ocean monitoring using underwater sensor networks faces communication challenges in retrieving data, communicating large amounts of data between nodes, and covering increasing spatial regions while remaining connected. With underwater sensor networks that are capable of surfacing, unmanned aerial ve…
Using Unmanned Aerial Vehicles (UAVs) to deploy sensor networks promises an autonomous and useful method of installation in remote or hard to access locations. Some sensors, such as soil moisture sensors, must be physically installed in soft soil, yet UAVs cannot easily determine soil softness with…