Related papers: Real-time Communication between Robot PLC and PC o…
In this paper, we introduce a novel approach in controlling robot systems over the Internet. The Real-time Transport Protocol (RTP) is used as the communication protocol instead of traditionally using TCP and UDP. The theoretic analyses,…
As robotics systems become more distributed, the communications between different robot modules play a key role for the reliability of the overall robot control. In this paper, we present a study of the Linux communication stack meant for…
Programmable logic controllers (PLCs) are the core element of industrial plants in todays deployments. They read sensor values, execute control algorithms, and write output values. Furthermore, industrial plants have lifetimes of one or…
In a diverse set of robotics applications, including RoboCup categories, mobile robots require control commands to interact with surrounding environment correctly. These control commands should come wirelessly to not interfere in robots'…
Real-time communications (RTC) is a core technology for emerging applications in 6G, such as cloud gaming, teleoperation, and extended reality (XR), which require consistently low latency and high bitrates. Existing RTC solutions…
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
Cyber-physical systems (CPSs) for real-time advanced process control (RT-APC) are a class of control systems using network communication to control industrial processes. In this paper, we use simple examples to describe the software…
Embedded real-time devices for monitoring, controlling, and collaboration purposes in cyber-physical systems are now commonly equipped with IP networking capabilities. However, the reception and processing of IP packets generates workloads…
This paper investigates the application of physical-layer network coding (PNC) to Industrial Internet-of-Things (IIoT) where a controller and a robot are out of each other's transmission range, and they exchange messages with the assistance…
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…
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…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…
One of the most challenging coordination problems in artificial intelligence is to achieve successful collaboration across large-scale heterogeneous systems that include Robots, Agents, and People (RAP). In the best case, these RAP systems…
In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…
Internet of Things (IoT) can be widely used in various applications such as manufacturing industry,achieving high operational efficiency and increased productivity.The exploitation of IoT paradigm made more feasible the use of distributed…