Related papers: Real-time Linux communications: an evaluation of t…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
Dynamic analysis, through rehosting, is an important capability for security assessment in embedded systems software. Existing rehosting techniques aim to provide high-fidelity execution by accurately emulating hardware and peripheral…
The Robot Context Protocol (RCP) is a lightweight, middleware-agnostic communication protocol designed to simplify the complexity of robotic systems and enable seamless interaction between robots, users, and autonomous agents. RCP provides…
With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…
This paper considers the use of routerless networks-on-chip as an alternative on-chip interconnect for multiprocessor systems requiring hard real-time guarantees for inter-processor communication. It presents a novel analytical framework…
Multi-path TCP (MP-TCP) has the potential to greatly improve application performance by using multiple paths transparently. We propose a fluid model for a large class of MP-TCP algorithms and identify design criteria that guarantee the…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Various application areas e.g. industrial automation, professional audio-video, automotive in-vehicle, aerospace on-board, and mobile fronthaul networks require deterministic communication: loss-less forwarding with bounded maximum latency.…
Overheads in Operating System kernel network stacks and sockets have been hindering OSes from managing networking operations efficiently for years. Moreover, when building Remote Procedure Calls over TCP, certain TCP features do not match…
Measuring and analyzing the performance of software has reached a high complexity, caused by more advanced processor designs and the intricate interaction between user programs, the operating system, and the processor's microarchitecture.…
Brain simulation, as one of the latest advances in artificial intelligence, facilitates better understanding about how information is represented and processed in the brain. The extreme complexity of human brain makes brain simulations only…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
Edge computing processes data near its source, reducing latency and enhancing security compared to traditional cloud computing while providing its benefits. This paper explores edge computing for migrating an existing safety-critical…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…
Modern control systems applications are often built on top of a real time operating system (RTOS) which provides the necessary hardware abstraction as well as scheduling, networking and other services. Several open source RTOS solutions are…
Multipath communication not only allows improved throughput but can also be used to leverage different path characteristics to best fulfill each application's objective. In particular, certain delay-sensitive applications, such as real time…
Purpose of Review. This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
We study the scalability of consensus-based distributed optimization algorithms by considering two questions: How many processors should we use for a given problem, and how often should they communicate when communication is not free?…