Related papers: A RoboStack Tutorial: Using the Robot Operating Sy…
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
While most instruction set architectures (ISAs) are only available to use through the purchase of a restrictive commercial license, the RISC-V ISA presents a free and open-source alternative. Due to this availability, many free and…
There is a gap between how people explore data and how Jupyter-like computational notebooks are designed. People explore data nonlinearly, using execution undos, branching, and/or complete reverts, whereas notebooks are designed for…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
Trusted Execution Environments (TEEs) on low-power microcontrollers (e.g., ARM TrustZone-M) enable isolation of Secure and Non-Secure software but still require both worlds to share resources, including interrupt controllers. In this model,…
The end of Dennard scaling combined with stagnation in architectural and compiler optimizations makes it challenging to achieve significant performance deltas. Solutions based solely in hardware or software are no longer sufficient to…
In the context of the Horizon Europe project, METASAT, a hardware platform was developed as a prototype of future space systems. The platform is based on a multiprocessor NOEL-V, an established space-grade processor, which is integrated…
Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
ARCHYTAS aims to design and evaluate non-conventional hardware accelerators, in particular, optoelectronic, volatile and non-volatile processing-in-memory, and neuromorphic, to tackle the power, efficiency, and scalability bottlenecks of AI…
Stream processing and reasoning is getting considerable attention in various application domains such as IoT, Industry IoT and Smart Cities. In parallel, reasoning and knowledge-based features have attracted research into many areas of…
Typically, even low-level operating system concepts, such as resource sharing strategies and predictability measures, are evaluated with Linux on PC hardware. This leaves a large gap to real industrial applications. Hence, the direct…
This paper presents an extension of the OpenAI Gym for robotics using the Robot Operating System (ROS) and the Gazebo simulator. The content discusses the software architecture proposed and the results obtained by using two Reinforcement…
While most robotics simulation libraries are built for low-dimensional and intrinsically serial tasks, soft-body and multi-agent robotics have created a demand for simulation environments that can model many interacting bodies in parallel.…
Parallel computing has established itself as another standard method for applied research and data analysis. The R system, being internally constrained to mostly singly-threaded operations, can nevertheless be used along with different…
The process of engineering and deploying applications in the edge/embedded space is massively complicated by the non-homogeneous nature of the software stack and the complexity of diagnostics & debugging. Often different languages and…
RISC-V allows for building general-purpose computing platforms with programmable accelerators around a single open-source ISA. However, leveraging heterogeneous SoCs within high-level applications is a tedious task. In this preliminary…