Related papers: Latency Analysis of ROS2 Multi-Node Systems
This paper investigates the robust transmission design (RTD) of a multi-cell device-to-device (D2D) underlaid cellular network with imperfect channel state information (CSI). The bounded model is adopted to characterize the CSI impairment…
We present a framework to analyse the latency budget in wireless systems with Mobile Edge Computing (MEC). Our focus is on teleoperation and telerobotics, as use cases that are representative of mission-critical uplink-intensive IoT systems…
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…
In this paper, we deal with the problem of relay selection in mobile edge computing networks, where a source node transmits a computation-intensive task to a destination via the aid of multiple relay nodes. It differs from the traditional…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
In this paper, we examine the influence of communication latency on performance of networked control systems. Even though distributed control architectures offer advantages in terms of communication, maintenance costs, and scalability, it…
Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…
Wireless device-to-device (D2D) communication underlaying cellular network is a promising concept to improve user experience and resource utilization. Unlike traditional D2D communication where two mobile devices in the proximity establish…
In recent years, more and more applications use ad-hoc networks for local M2M communications, but in some cases such as when using WSNs, the software processing delay induced by packets relaying may not be negligible. In this paper, we…
We develop a comprehensive framework to characterize and optimize the performance of a unmanned aerial vehicle (UAV)-assisted D2D network, where D2D transmissions underlay cellular transmissions. Different from conventional…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
Controller networks in today's automotive systems consist of more than 100 ECUs connected by various bus protocols. Seamless operation of the entire system requires a well-orchestrated interaction of these ECUs. Consequently, to ensure…
In this paper we analyze the probability of consistency of sensor data distribution systems (SDDS), and determine suitable evaluation models. This problem is typically difficult, since a reliable model taking into account all parameters and…
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…
We present a formalized, fully decentralized runtime semantics for a core subset of ABS, a language and framework for modelling distributed object-oriented systems. The semantics incorporates an abstract graph representation of a network…
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…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
The Diminishing Bandwidth Problem is a long standing, previously unidentified, extensibility problem of current real-time operating systems characterized by a superficial dependency between the number of tasks in a system and the maximum…
Low latency is critical for interactive networked applications. But while we know how to scale systems to increase capacity, reducing latency --- especially the tail of the latency distribution --- can be much more difficult. In this paper,…