This discussion paper aims to support the argument process for the need to develop a comprehensive science of resilient robotic autonomy. Resilience and its key characteristics relating to robustness, redundancy, and resourcefulness are discussed, followed by a selected - but not exhaustive - list of research themes and domains that are crucial to facilitate resilient autonomy. Last but not least, an outline of possible directions of a new and enhanced design paradigm in robotics is presented. This manuscript is intentionally short and abstract. It serves to open the discussion and raise questions. The answers will necessarily be found in the actual process of conducting research by the community and in the framework of introducing robotics in an ever increasing set of real-life use cases. Its current form is based on thoughts identified within the ongoing experience of conducting research for robotic systems to gain autonomy in certain types of extreme environments such as subterranean settings, nuclear facilities, agriculture areas, and long-term off-road deployments. The very context of this document will be subject to change and it will be iteratively revisited.
OpenRC: An Open-Source Robotic Colonoscopy Framework for Multimodal Data Acquisition and Autonomy Research
Walker Department of Mechanical Engineering, The University of Texas at Austin（德克萨斯大学奥斯汀分校沃克机械工程系）；Department of Surgical Oncology, Division of Surgery, The University of Texas MD Anderson Cancer Center（德克萨斯大学MD安德森癌症中心外科肿瘤学系）；School of Medicine and Health, Technical University of Munich（慕尼黑工业大学医学与健康学院）
California State Polytechnic University, Pomona（加州州立理工大学波莫纳分校）；Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）；Brunel University London（伦敦布鲁内尔大学）
MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams
FZI Forschungszentrum für Informatik, Karlsruhe, Germany（弗赖堡信息研究中心，卡尔斯鲁厄，德国）；Robotic Systems Lab (RSL), ETH Zürich, Zürich, Switzerland（机器人系统实验室（RSL），苏黎世联邦理工学院，苏黎世，瑞士）；Machine Intelligence and Robotics Lab (MaiRo), Karlsruhe Institute for Technology (KIT), Karlsruhe, Germany（机器智能与机器人实验室（MaiRo），卡尔斯鲁厄技术学院（KIT），卡尔斯鲁厄，德国）；European Space Agency (ESA), Noordwijk, Netherlands（欧洲航天局（ESA），诺德威克，荷兰）
Before Autonomy Takes Control: Software Testing in Robotics
Ruhr University Bochum Bochum Germany；University of Bremen Bremen Germany；IT University of Copenhagen Copenhagen Denmark；Chalmers\,|\,Gothenburg University Gothenburg Sweden；Ruhr University Bochum；University of Bremen；IT University of Copenhagen；Chalmers\,|\,Gothenburg University
Results from the Robocademy ITN: Autonomy, Disturbance Rejection and Perception for Advanced Marine Robotics
Heriot-Watt University（赫瑞-瓦特大学）；DFKI（德国人工智能研究中心）；National Oceanography Centre（英国国家海洋学中心）；National Technical University of Athens（雅典国立技术大学）；Tallin University of Technology（塔林理工大学）；Atlas Elektronik GmbH（阿特拉斯电子有限公司）；University of Girona（赫罗纳大学）；SeeByte（SeeByte公司）
海洋和水下资源是许多国家经济的重要组成部分。这需要大量的财政资源用于其建设和维护。机器人技术有望填补这一空白，通过自动化和/或将人类从恶劣的环境中移除，以便轻松执行维护任务。Robocademy Marie Sklodowska-Curie初始培训网络由欧盟FP 7研究计划资助，旨在训练13名研究员成为海洋和水下机器人领域的世界领先研究人员。研究员将指导性研究发展到三个关键领域：自主性，干扰拒绝和感知。本文概述了研究员在这三个行动方针方面的研究。71份科学出版物是该项目的主要成果，目前还有许多其他出版物正在筹备中。大多数研究员在欧洲找到了工作，这表明对这类专家的需求很大。我们相信，该项目的成果已经对海洋机器人行业产生了影响，因为关键技术已经被采用。
VinePT-Map: Pole-Trunk Semantic Mapping for Resilient Autonomous Robotics in Vineyards
Department of Electronics and Telecommunications, Politecnico di Torino（电子与电信系，托斯纳大学）；PoliTO Interdepartmental Centre for Service Robotics (PIC4SeR)（PoliTO 服务机器人跨部门中心（PIC4SeR））
Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing
Technische Universität München（慕尼黑工业大学）；Johns Hopkins University（约翰斯·霍普金斯大学）；Wilmer Eye Institute（威尔默眼科研究所）；Johns Hopkins Hospital（约翰斯·霍普金斯医院）；Technical University of Munich（慕尼黑工业大学）；Whiting School of Engineering（怀廷工程学院）
A Robotic Testing Platform for Pipelined Discovery of Resilient Soft Actuators
Department of Mechanical and Industrial Engineering, University of Toronto（多伦多大学机械与工业工程系）；Institute of Materials Science, University of Connecticut（康涅狄格大学材料科学研究所）；School of Mechanical, Aerospace, and Manufacturing Engineering, University of Connecticut（康涅狄格大学机械、航空航天与制造工程学院）；Material Science and Engineering, University of Connecticut（康涅狄格大学材料科学与工程系）；Inorganic Polymers Department, Petru Poni Institute of Macromolecular Chemistry（彼得·波尼宏分子化学研究所无机聚合物部门）
Uncertainty-Resilient Active Intention Recognition for Robotic Assistants
German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心（DFKI））；Osnabrück University（奥斯纳布吕克大学）；Joint Lab for AI & DS（人工智能与数据科学联合实验室）；Institute of Computer Science（计算机科学学院）
Distortion-Resilient Robotic Imitation Learning for Autonomous Cable Routing
School of Artificial Intelligence, Harbin Institute of Technology（哈尔滨工业大学人工智能学院）；Department of Computer Science, City University of Hong Kong（香港城市大学计算机科学系）；Pengcheng Laboratory（鹏城实验室）；Suzhou Research Institute, Harbin Institute of Technology（哈尔滨工业大学苏州研究院）
Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments
School of Computer Science, Fudan University（复旦大学计算机科学学院）；Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University（复旦大学脑启发式智能科学研究院）
Human-Centered Shared Autonomy for Motor Planning, Learning, and Control Applications
Translational Neurorobotics Laboratory（转化神经机器人实验室）；Department of Electrical, Computer, and Biomedical Engineering（电气、计算机与生物医学工程系）；University of Rhode Island（罗德岛大学）；Human-Centered AI (HCAI) Labs（以人为本的人工智能实验室）
Speculative Policy Orchestration: A Latency-Resilient Framework for Cloud-Robotic Manipulation
Department of Computing Science, Umeå University（乌梅大学计算科学系）；School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology（皇家理工学院电气工程与计算机科学学院）
A Shared-Autonomy Construction Robotic System for Overhead Works
Intelligent Robotics Research Center, Korea Electronics Technology Institute (KETI)（韩国电子技术研究所智能机器人研究中心）；Dept. of Electrical and Computer Engineering, University of California, San Diego (UCSD)（加州大学圣地亚哥分校电气与计算机工程系）；ITONE Inc.（ITONE公司）
General Place Recognition Survey: Towards Real-World Autonomy
City University of Hong Kong（香港城市大学）；University College London（伦敦大学学院）；University of Delaware（特拉华大学）；Carnegie Mellon University（卡内基梅隆大学）；Nankai University（南开大学）
