Related papers: The Matter of Time -- A General and Efficient Syst…
High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccurate timestamping can be compensated for in post-processing…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
Several modern accelerator facilities require the synchronization of equipment, which is distributed over large distances, down to the femto-second scale. This document describes the resulting problems, gives a basic description of concepts…
The accuracy of sensor fusion algorithms are limited by either the intrinsic sensor noise, or by the quality of time synchronization of the sensors. While the intrinsic sensor noise only depends on the respective sensors, the error induced…
The main focus of recent time synchronization research is developing power-efficient synchronization methods that meet pre-defined accuracy requirements. However, an aspect that has been often overlooked is the high dynamics of the network…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
A system-of-systems (SoS) is a large information processing system formed by the integration of autonomous computer systems (called constituent systems, CS), physical machines and humans for the purpose of providing new synergistic services…
Real-time artificial intelligence (AI) applications mapped onto edge computing need to perform data capture, process data, and device actuation within given bounds while using the available devices. Task synchronization across the devices…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Clock synchronisation is conventional when inertial systems are involved. This statement is no longer true in accelerated systems. A demonstration is given in the case of a rotating platform. We conclude that theories based on the…
With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…
We present a synchronization algorithm to let nodes in a sensor network simultaneously execute a task at a given point in time. In contrast to other time synchronization algorithms we do not provide a global time basis that is shared on all…
Clocks are a central part of many computing paradigms, and are mainly used to synchronise the delicate operation of switching, necessary to drive modern computational processes. Unfortunately, this synchronisation process is reaching a…
Clock synchronization is the backbone of applications such as high-accuracy satellite navigation, geolocation, space-based interferometry, and cryptographic communication systems. The high accuracy of synchronization needed over…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
Sub-nanosecond precision clock synchronization over the packet network has been achieved by the White Rabbit protocol for a decade. However, few computer systems utilize such a technique. We try to attract more interest in the clock…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
The coordinated assurance of interrelated critical properties, such as system safety and cyber-security, is one of the toughest challenges in critical systems engineering. In this chapter, we summarise approaches to the coordinated…