Robot Operating System
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A Kinetic Theory of Encounter-Based Information Propagation in Multi-Robot Systems
arXiv:2606.02296v1 Announce Type: new Abstract: Multi-robot systems cannot assume persistent network connectivity. We study this problem through target tracking, where performance depends on how quickly target information is sensed, transported through the team, and used before it becomes stale. When robots exchange information only through physical encounters, tracking becomes a kinetic information-transport problem: robot motion induces encounters, encounters carry target-state estimates,...
From Pixels to Shelf: An Integrated Robotic System for Autonomous Supermarket Stocking with a Mobile Manipulator
arXiv:2509.11740v2 Announce Type: replace Abstract: Autonomous stocking in retail environments, particularly supermarkets, presents challenges due to dynamic human interactions, constrained spaces, and diverse product geometries. This paper introduces an efficient modular robotic system for autonomous shelf stocking, integrating commercially available hardware with a scalable algorithmic architecture. A major contribution of this work is the system integration of off-the-shelf hardware and...
Dynamic Multi-Agent Pickup and Delivery in Robotic Cellular Warehousing Systems
arXiv:2606.05669v1 Announce Type: new Abstract: Robotic Cellular Warehousing Systems (RCWS) give rise to multi-agent pickup and delivery (MAPD) processes in which robots sequentially collect multiple stock-keeping units (SKUs) for each order. Unlike classical MAPD formulations that assume static tasks, real warehouse operations often involve dynamic order evolution, where new SKUs may be appended to an order while it is being executed. Motivated by this practical requirement, this letter...
Science Earth: Towards A Planet-Scale Operating System for AI-Native Scientific Discovery
arXiv:2606.01316v1 Announce Type: new Abstract: Scientific discovery demands intelligence, perseverance, and serendipity across vast search spaces. Today, top scientific capabilities remain siloed--one AI system for biological analysis, another for clinical reasoning, mathematical derivation, or materials simulation--and no pre-designed team can anticipate every skill a question will need. Science Earth is a planet-scale scientific runtime in which any capability--a simulation cluster, a...
A Multi-Operator Mixed-Reality Interface for Multi-Robot Control and Coordination: Co-Located and Private Workspace Collaboration
arXiv:2606.07013v1 Announce Type: new Abstract: Multi-operator control of robot teams requires not only access to the same mission information, but also mechanisms for maintaining shared awareness and preventing conflicting interventions. Building on our previous HORUS interface (Holistic Operational Reality for Unified Systems) we present a mixed-reality interface that extends single-operator multi-robot supervision to collaborative multi-operator use. The system supports two complementary...
Mbodi AI (YC P25) Is Hiring Founding Machine Learning Engineer (Robotics)
Industrial Robots that Learn and Operate Like Humans Mbodi is building embodied AI platform that makes robots learn and operate like humans, with natural language. Our software lets anyone teach robots new skills by talking to them and execute the learned skills reliably in production, in minutes. We are pioneering the next wave of robotics, where advanced generative models, agentic systems, and real world automation come together.
Deterministic Execution of ROS~2 Applications via Lingua Franca
arXiv:2606.09203v1 Announce Type: new Abstract: The Robot Operating System~2 (ROS 2) is a widely used middleware for robotic systems, characterized by a publish-subscribe (pub-sub) communication mechanism in which computation is structured as callbacks dispatched by ROS 2 executors. Despite its popularity, the pub-sub pattern in ROS 2 is inherently nondeterministic: the order in which these callbacks run is nondeterministic even within a single executor, and distributed deployments add...
HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots
arXiv:2506.02622v2 Announce Type: replace Abstract: Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified Systems, a Mixed Reality interface offering a comprehensive set of tools for managing multiple mobile robots simultaneously. HORUS enables operators to monitor individual robot statuses, visualize sensor...
BlueME: Robust Underwater Robot-to-Robot Communication Using Compact Magnetoelectric Antennas
arXiv:2411.09241v5 Announce Type: replace Abstract: We present the design, development, and experimental validation of BlueME, a compact magnetoelectric (ME) antenna array system for underwater robot-to-robot communication. BlueME employs ME antennas operating at their natural mechanical resonance frequency to efficiently transmit and receive very-low-frequency (VLF) electromagnetic signals underwater. We outline the design, simulation, fabrication, and integration of the proposed system on...
A Conversational Framework for Human-Robot Collaborative Manipulation with Distributed Generative AI models
arXiv:2606.06061v1 Announce Type: new Abstract: This paper presents a distributed conversational framework for human-robot collaborative manipulation that integrates local language and vision-language models (VLMs) with a Robot Operating System 2 (ROS 2)-based execution stack. Language understanding, visual grounding, orchestration, and motion execution run as separate ROS 2 nodes, enabling flexible deployment across distributed hardware while maintaining a responsive control loop. From...