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TeMoto is a collection of software tools, i.e., a framework, that help solving common challenges in applications covering system reliability, human-robot collaboration and multi-robot systems. TeMoto is designed to work with ROS (full support) and ROS2 (in a migration stage), but the core tools can be used outside ROS.
R. Valner, V. Vunder, A. Aabloo, M. Pryor and K. Kruusamäe, "TeMoto: A Software Framework for Adaptive and Dependable Robotic Autonomy With Dynamic Resource Management," in IEEE Access, vol. 10, pp. 51889-51907, 2022, doi: 10.1109/ACCESS.2022.3173647. (paper; video demos [1], [2], [3]; demo materials)
R. Valner, S. Wanna, K. Kruusamäe, and M. Pryor, "Unified Meaning Representation Format (UMRF) - A Task Description and Execution Formalism for HRI," in ACM Transactions on Human-Robot Interaction. 11, 4, Article 38, 2022, doi: 10.1145/3522580. (paper; video demos [1], [2], [3]; demo materials)
R. Valner, S. Wanna, K. Kruusamäe, and M. Pryor, "TeMoto: A Software Framework Supporting Mixed-Modality Command Inputs Necessary for Integration of nonverbal-HRI," workshop on Exploring Applications for Autonomous Non-Verbal Human-Robot Interactions, in ACM/IEEE International Conference on Human-Robot Interaction 2021, Virtual Conference, March 8th, 2021 (paper)
R. Valner, S. Wanna "Universal Meaning Representation Format for Natural Language Task Engines," ROSCon 2019 Macau, 2019. (video)
R. Valner, V. Vunder, A. Zelenak, M. Pryor, A. Aabloo, and K. Kruusamäe, "Intuitive ‘human-on-the-loop’interface for tele-operating remote mobile manipulator robots," International symposium on artificial intelligence, robotics, and automation in space (i-SAIRAS), 2018. (paper)
R. Valner, V. Vunder, A. Zelenak, K. Kruusamäe, and M. Pryor, "TeMoto 2.0: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems," Proceedings of Waste Management Symposia 2018 (WM2018), 2018. (paper)
A. Kustavus, "Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework," MSc thesis, University of Tartu, 2021. (thesis, video demo)
F. P. Gil, "Implementation of Robot Manager Subsystem for TeMoto Software Framework," MSc thesis, University of Tartu, 2020. (thesis, video demo)
M. Pihlap, "Multi-robot collaboration functionalities for robot software development framework TeMoto," BSc thesis, University of Tartu, 2019. (thesis, video demo)
