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We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to…
Real-Time communication are important in all those distributed applications where timing constraints on data proccessing and task executation play a fundamental role. Standards-base software engineering does not yet specify how real-time…
We propose an efficient distributed online learning protocol for low-latency real-time services. It extends a previously presented protocol to kernelized online learners that represent their models by a support vector expansion. While such…
In this paper we propose and quantitatively evaluate three performance optimization methods that exploit the concept of communication-compute-control co-design by introducing awareness of communication and compute characteristics into the…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
Embedded systems are playing an increasingly important role in control engineering. Despite their popularity, embedded systems are generally subject to resource constraints and it is therefore difficult to build complex control systems on…
Cellular phones, wireless laptops, personal portable devices that supports both voice and data access are all examples of communicating devices that uses wireless communication. Sine TCP/IP (and UDP) is the dominant technology in use in the…
Most end devices are now equipped with multiple network interfaces. Applications can exploit all available interfaces and benefit from multipath transmission. Recently Multipath TCP (MPTCP) was proposed to implement multipath transmission…
We propose a dynamic verification framework for protocols in real-time distributed systems. The framework is based on Scribble, a tool-chain for design and verification of choreographies based on multiparty session types, developed with our…
An important ingredient of the future 5G systems will be Ultra-Reliable Low-Latency Communication (URLLC). A way to offer URLLC without intervention in the baseband/PHY layer design is to use \emph{interface diversity} and integrate…
Recent progress in robotics has underscored the demand for real-time control in applications such as manufacturing, healthcare, and autonomous systems, where the timely delivery of mission-critical commands under heterogeneous robotic…
This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable…
Most commercial embedded devices have been deployed with a single processor architecture. The code size and complexity of applications running on embedded devices are rapidly increasing due to the emergence of application business models…
Data race conditions in multi-tasking software applications are prevented by serializing access to shared memory resources, ensuring data consistency and deterministic behavior. Traditionally tasks acquire and release locks to synchronize…
We study language-in-the-loop control for multi-drone systems that execute evolving, high-level missions while retaining formal robustness guarantees at the physical layer. We propose a three-layer architecture in which (i) a human operator…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Real-time applications are performance critical applications that require bounded service latency. In multi-hop wireless ad-hoc and sensor networks, communication delays are dominant over processing delays. Therefore, to enable real-time…
The deterministic (timing) behavior of real-time systems (RTS) can be used by adversaries - say, to launch side channel attacks or even destabilize the system by denying access to critical resources. We propose a protocol (named REORDER) to…