Related papers: Latency Analysis of ROS2 Multi-Node Systems
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
Task offloading is a key component in mobile edge computing. Offloading a task to a remote server takes communication and networking resources. An alternative is device-todevice (D2D) offloading, where a task of a device is offloaded to…
This paper investigates a joint beamforming and resource allocation problem in downlink reconfigurable intelligent surface (RIS)-assisted orthogonal frequency division multiplexing (OFDM) systems to minimize the average delay, where data…
One of the ways to satisfy the requirements of ultra-reliable low latency communication for mission critical Machine-type Communications (MTC) applications is to integrate multiple communication interfaces. In order to estimate the…
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,…
Offloading computationally expensive algorithms to the edge or even cloud offers an attractive option to tackle limitations regarding on-board computational and energy resources of robotic systems. In cloud-native applications deployed with…
A hot topic in data center design is to envision geo-distributed architectures spanning a few sites across wide area networks, allowing more proximity to the end users and higher survivability, defined as the capacity of a system to operate…
Modern control systems applications are often built on top of a real time operating system (RTOS) which provides the necessary hardware abstraction as well as scheduling, networking and other services. Several open source RTOS solutions are…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
In order to follow up with mission-critical applications, new features need to be carried to satisfy a reliable communication with reduced latency. With this regard, this paper proposes a low latency cooperative transmission scheme, where…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
In industrial applications, security and trust in the system are requirements for widespread adoption. Blockchain technologies have emerged as a potential solution to address identity management and secure data aggregation and control.…
This paper develops the time-delay approach to Networked Control Systems (NCSs) in the presence of variable transmission delays, sampling intervals and communication constraints. The system sensor nodes are supposed to be distributed over a…
Motivated by the growing demand for serving large language model inference requests, we study distributed load balancing for global serving systems with network latencies. We consider a fluid model in which continuous flows of requests…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
In cloud storage systems with a large number of servers, files are typically not stored in single servers. Instead, they are split, replicated (to ensure reliability in case of server malfunction) and stored in different servers. We analyze…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2…
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…
As robotics systems become more distributed, the communications between different robot modules play a key role for the reliability of the overall robot control. In this paper, we present a study of the Linux communication stack meant for…