Related papers: Latency Analysis of ROS2 Multi-Node Systems
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10…
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
Designing distributed, fast and reliable wireless consensus protocols is instrumental in enabling mission-critical decentralized systems, such as robotic networks in the industrial Internet of Things (IIoT), drone swarms in rescue missions,…
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…
Real-time scheduling in commoditized component-oriented real-time systems, such as ROS 2 systems on Linux, has been studied under nested scheduling: OS thread scheduling and middleware layer scheduling (e.g., ROS 2 Executor). However, by…
Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…
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.…
Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing…
Embedded systems have been used to control physical environments for decades. Usually, such use cases require low latencies between commands and actions as well as a high predictability of the expected worst-case delay. To achieve this on…
As the automotive industry transitions toward centralized Linux-based architectures, ensuring the predictable execution of mixed-criticality applications becomes essential. However, concurrent use of the Linux network stack introduces…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
Reconfigurable intelligent surfaces (RISs) is a promising solution for enhancing the performance of multihop wireless communication networks. In this paper, we propose a double-RIS assisted multihop routing scheme for a device-to-device…
In this paper, we consider networked distributed systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. First, we consider a simple and typical scenario where…
In this paper we propose a new scheduling algorithm called Real Time Scheduling (RTS) which uses virtual nodes for self stabilization. This algorithm deals with all the contributing components of the end-to-end travelling delay of data…
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…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
Low Earth Orbit (LEO) satellite networks are emerging as an essential communication infrastructure, with standardized 5G-based non-terrestrial networks and their integration with terrestrial systems envisioned as a key feature of 6G.…
The Robot Operating System (ROS) streamlines human processes, increasing the efficiency of various production tasks. However, the security of data transfer operations in ROS is still in its immaturity. Securing data exchange between several…