Related papers: Latency Analysis of ROS2 Multi-Node Systems
Edge computing processes data near its source, reducing latency and enhancing security compared to traditional cloud computing while providing its benefits. This paper explores edge computing for migrating an existing safety-critical…
To alleviate the burdens on the fronthaul and reduce the transmit latency, the device-to-device (D2D) communication is presented in cloud radio access networks (C-RANs). Considering dynamic traffic arrivals and time-varying channel…
Device-to-device (D2D) communication underlaying cellular wireless networks is a promising concept to improve user experience and resource utilization by allowing direct transmission between two cellular devices. In this paper, performance…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
This letter deals with the problem of quantifying resiliency of Networked Control Systems (NCSs) to Denial-of-Service (DoS) attacks and variable network delays. Internal exponential stability and $\mathcal{L}_2$ external stability are…
In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
This paper provides a perspective on the literature and current challenges in Multi-Agent Systems for interoperable robot navigation in industry. The focus is on the multi-agent decision stack for Autonomous Mobile Robots operating in mixed…
Distributed computing is increasingly being viewed as the next phase of Large Scale Distributed Systems (LSDSs). However, the vision of large scale resource sharing is not yet a reality in many areas - Grid computing is an evolving area of…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
Distributed storage infrastructures require the use of data redundancy to achieve high data reliability. Unfortunately, the use of redundancy introduces storage and communication overheads, which can either reduce the overall storage…
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
Robot teleoperation with extended reality (XR teleoperation) enables intuitive interaction by allowing remote robots to mimic user motions with real-time 3D feedback. However, existing systems face significant motion-to-motion (M2M)…
In this paper, we consider a class of denial-of-service (DoS) attacks, which aims at overloading the communication channel. On top of the security issue, continuous or periodic transmission of information within feedback loop is necessary…
Machine-to-Machine (M2M) communication is an important type of communication in the Internet-of-Things (IoT). How to send data in these high-density communications using relay selection can help improve the performance of this type of…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
We study the expected completion time of some recently proposed algorithms for distributed computing which redundantly assign computing tasks to multiple machines in order to tolerate a certain number of machine failures. We analytically…
In this paper, we consider a dense vehicular communication network where each vehicle broadcasts its safety information to its neighborhood in each transmission period. Such applications require low latency and high reliability, and thus,…
5th generation networks are envisioned to provide seamless and ubiquitous connection to 1000-fold more devices and is believed to provide ultra-low latency and higher data rates up to tens of Gbps. Different technologies enabling these…
Device-to-Device (D2D) communication appears as a key communication paradigm to realizing the vision of Internet of Things (IoT) into reality by supporting heterogeneous objects interconnection in a large scale network. These devices may be…