Related papers: Latency Analysis of ROS2 Multi-Node Systems
The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS2 integration for the Robotino available. In this paper, we describe our work…
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…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
Device-to-device (D2D) communication in cellular networks allows direct transmission between two cellular devices with local communication needs. Due to the increasing number of autonomous heterogeneous devices in future mobile networks, an…
The dramatic increase in data and connectivity demand, in addition to heterogeneous device capabilities, poses a challenge for future wireless networks. One of the promising solutions is Device-to-Device (D2D) networking. D2D networking,…
The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is indeed potential for more secure and trustable distributed…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint robot trajectories that minimize the worst-case weighted…
Advances in Micro-Electro-Mechanical Systems (MEMS) have revolutionized the digital age to a point where animate and inanimate objects can be used as a communication channel. In addition, the ubiquity of mobile phones with increasing…
This paper analyses the performance of reconfigurable intelligent surface (RIS)-assisted device-to-device (D2D) communication systems, focusing on addressing co-channel interference, a prevalent issue due to the frequency reuse of sidelink…
Fog Robotics renders networked robots with greater mobility, on-demand compute capabilities and better energy efficiency by offloading heavy robotics workloads to nearby Edge and distant Cloud data centers. However, as the de-facto standard…
Future autonomous mobile systems will greatly benefit from cooperation and real-time sensor data exchange using V2X communication. In such applications, wireless communication has to cope with stringent real-time and safety constraints, a…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
In this letter, we investigate an intelligent reflecting surface (IRS) aided device-to-device (D2D) offloading system, where an IRS is employed to assist in computation offloading from a group of users with intensive tasks to another group…
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…