13 accepted papers
This document presents the outcomes of the Dagstuhl Seminar "Roadmap for Responsible Robotics," held in September 2023 at the Leibniz Centre for Informatics, Schloss Dagstuhl, Germany. The seminar brought together researchers from Robotics, Computer Science, Social and Cognitive Sciences, and Philos…
Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints (iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks. jgeom constr and eTaSL are among the few formal, computer-…
The specification and validation of robotics applications require bridging the gap between formulating requirements and systematic testing. This often involves manual and error-prone tasks that become more complex as requirements, design, and implementation evolve. To address this challenge systemat
Software frameworks like the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Stack of Tasks</i> (SoT), the Stanford <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Whole-Body Control</i> (WBC) library
An object handover between a robot and a human is a coordinated action which is prone to failure for reasons such as miscommunication, incorrect actions and unexpected object properties. Existing works on handover failure detection and prevention focus on preventing failures due to object slip or ex…
Is mobile robot navigation a solved problem? We asked this question to 14 professional robot software engineers who work with navigation stacks of mobile, wheeled robots on a daily basis. They unanimously report that it remains challenging to ensure the performance of their mobile robots. We find th…
Safety is paramount for robots used in environments they share with humans. In such scenarios, security is also growing in importance. However, conventional approaches to analysing safety requirements are aimed at identifying hazards only. Security-related aspects such as cyber threats, cyber attack…
The Unified Robot Description Format (URDF) and, to a lesser extent, the COLLAborative Design Activity (COLLADA) format are two of the most popular domain-specific languages (DSLs) to represent kinematic chains in robotics with support in many tools including Gazebo, MoveIt!, KDL or IKFast. In this…
Service robots are mobile autonomous robots, often operating in uncertain and difficult environments. While being increasingly popular, engineering service robots is challenging. Especially, evolving them from prototype to deployable product requires effective validation and verification, assuring t…
Autonomous robots are already being used, for example, as tour guides, receptionists, or office-assistants. The proximity to humans and the possibility to physically interact with them highlights the importance of developing secure robot applications. It is crucial to consider security implications…
The successes of teleoperation scenarios for mobile robots depends on a stable and reliable communication link. The environment information collected by the robot - represented by 2D or 3D images - has to be provided with a high resolution and a low delay to ensure a fast and precise system response…
This paper presents a distributed world model that is able to adapt to changes in the Quality of Service (QoS) of the communication layer by online reconfiguration of perception algorithms. The approach consists of (a) a mechanism for storage, exchange and processing of world model data and (b) a fe…
Robotics applications are characterized by a huge amount of variability. Their design requires the developers to choose between several variants, which relate to both functionalities and hardware. Some of these choices can be taken at deployment-time, however others should be taken at run-time, when…