Related papers: Latency Analysis of ROS2 Multi-Node Systems
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
In this paper, we study underlay device-to-device (D2D) communication systems empowered by a reconfigurable intelligent surface (RIS) for cognitive cellular networks. Considering Rayleigh fading channels and the general case where there…
The cloud's flexibility and promise of seamless auto-scaling notwithstanding, its ability to meet service level objectives (SLOs) typically calls for some form of control in resource usage. This seemingly traditional problem gives rise to…
Distributed averaging-based integral (DAI) controllers are becoming increasingly popular in power system applications. The literature has thus far primarily focused on disturbance rejection, steady-state optimality and adaption to complex…
We consider the problem of geographically distributed data storage in a network of servers (or nodes) where the nodes are connected to each other via communication links having certain round-trip times (RTTs). Each node serves a specific…
Connected and Autonomous Vehicles (CAVs) continue to evolve rapidly, and system latency remains one of their most critical performance parameters, particularly when vehicles are operated remotely. Existing latency-assessment methodologies…
High renewable penetration has been witnessed in power systems, resulting in reduced system inertia and increasing requirements for frequency response services. Electric vehicles (EVs), owing to their vehicle-to-grid (V2G) capabilities, can…
In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…
Distributed opportunistic scheduling (DOS) protocols are proposed for multiple-input multiple-output (MIMO) ad-hoc networks with contention-based medium access. The proposed scheduling protocols distinguish themselves from other existing…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Future Tele-operated Driving (ToD) applications place challenging Quality of Service (QoS) demands on existing mobile communication networks that are of highly important to comply with for safe operation. New remote control and platooning…
Robots are integrating more huge-size models to enrich functions and improve accuracy, which leads to out-of-control computing pressure. And thus robots are encountering bottlenecks in computing power and battery capacity. Fog or cloud…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
In distributed Software-Defined Networking (SDN), distributed SDN controllers require synchronization to maintain a global network state. Despite the availability of synchronization policies for distributed SDN architectures, most policies…
The growth of the Internet of Things has enabled a new generation of applications, pushing computation and intelligence toward the network edge. This trend, however, exposes challenges, as the heterogeneity of devices and the complex…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Cache-enabled Device-to-Device (D2D) communication is widely recognized as one of the key components of the emerging fifth generation (5G) cellular network architecture. However, conventional half-duplex (HD) transmission may not be…
In this work, we consider latency in wireless networks, motivated by the need for reliable and low-latency wireless communication for applications such as vehicle-to-vehicle communication and industrial automation. The environment that…
Service robots act in open-ended, natural environments. Therefore, due to combinatorial explosion of potential situations, it is not possible to foresee all eventualities in advance during robot design. In addition, due to limited resources…
Underlay in-band device-to-device (D2D) communication can improve the spectrum efficiency of cellular networks. However, the coexistence of D2D and cellular users causes inter-cell and intra-cell interference. The former can be effectively…