Related papers: MROS: Runtime Adaptation For Robot Control Archite…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Machine Learning Enabled Systems (MLS) are becoming integral to real-world applications, but ensuring their sustainable performance over time remains a significant challenge. These systems operate in dynamic environments and face runtime…
The study of robotic manipulators is the main goal of Industrial Robotics Class, part of Control Engineers training course. There is a difficulty in preparing academic practices and projects in the area of robotics due to the high cost of…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
In this chapter we discuss the problem of master failure in ROS1.0 and its impact on robotic deployments in the real world. We address this issue in this tutorial chapter where we outline, design and demonstrate a fault tolerant mechanism…
Self-adaptive software systems are often structured into an adaptation engine that manages an adaptable software by operating on a runtime model that represents the architecture of the software (model-based architectural self-adaptation).…
Runtime resource management for many-core systems is increasingly complex. The complexity can be due to diverse workload characteristics with conflicting demands, or limited shared resources such as memory bandwidth and power. Resource…
It is imperative to develop an intrusion prevention system (IPS), specifically designed for autonomous robotic systems. This is due to the unique nature of these cyber-physical systems (CPS), which are not merely typical distributed…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
To accurately make adaptation decisions, a self-adaptive system needs precise means to analyze itself at runtime. To this end, runtime verification can be used in the feedback loop to check that the managed system satisfies its requirements…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…