Architectures form the backbone of complete robotic systems. The right choice of architecture can go a long way in facilitating the specification, implementation and validation of robotic systems. Conversely, of course, the wrong choice can make one's life miserable. We present some of the needs of robotic systems, describe some general classes of robot architectures, and discuss how different ...

This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...

Infrastructure support for robotic colonies, Mars habitat for humans, and/or robotic exploration of planetary surfaces will need to rely on the field deployment of multiple robust robots. This support includes such tasks as the deployment and servicing of power systems and in-situ resource utilization (ISRU) generators, establishing long-life robotic science stations for measurement and communi...

This paper considers the “reduction” problem for distributed robotic systems. In particular, controllability of systems containing multiple instances of identical robotic systems or components where the overall system is invariant with respect to interchanging these identical robots or components is considered. The main result is a proposition which shows that for an equivalence class of symmet...

Context: Software architecture related issues are important for robotic systems. Architecture-centric development and evolution of software for robotic systems has been attracting researchers’ attention for more than two decades. Objective: The objective of this work is to systematically identify, taxonomically classify and holistically map the existing solutions, research progress and trends t...

The goal of this overview paper is to serve as a reference for researchers that are interested in the realistic modeling of wireless channels for the purpose of analysis and optimization of networked robotic systems. By utilizing the knowledge available in the wireless communication literature, we first summarize a probabilistic framework for the characterization of the underlying multiscale dy...

Systems and methods for robotic transport are disclosed herein. In some embodiments, robotic systems for transporting biological samples include: a plurality of capillary vessels, in which each capillary vessel can contain a biological sample from a population; a receptacle that can contain the plurality of capillary vessels; a centrifuge; a first robotic device that can transport the receptacl...

As researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative asp...