Related papers: Budget-based real-time Executor for Micro-ROS
Elasticity is highly desirable for stream processing systems to guarantee low latency against workload dynamics, such as surges in data arrival rate and fluctuations in data distribution. Existing systems achieve elasticity following a…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
Wireless Sensor Networks (WSNs) are used in many application fields, such as military, healthcare, environment surveillance, etc. The WSN OS based on event-driven model doesn't support real-time and multi-task application types and the OSs…
Modern microservice systems exhibit continuous structural evolution in their runtime call graphs due to workload fluctuations, fault responses, and deployment activities. Despite this complexity, our analysis of over 500,000 production…
Domain-specific systems-on-chip, a class of heterogeneous many-core systems, are recognized as a key approach to narrow down the performance and energy-efficiency gap between custom hardware accelerators and programmable processors.…
We consider the problem of scheduling multiprocessor jobs to minimize the total completion time under the given energy budget. Each multiprocessor job requires more than one processor at the same moment of time. Processors may operate at…
The activity framework is a promising model-based design approach for Flexible Manufacturing Systems (FMS). It is used in industry for specification and analysis of FMS. It provides an intuitive specification language with a hierarchical…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
Modern AESA technology enables RF systems to not only perform various radar, communication and electronic warfare tasks on a single aperture, but even to execute multiple tasks concurrently. These capabilities increase system complexity and…
There has been great progress recently in formally specifying the memory model of microprocessors like ARM and POWER. These specifications are, however, too complicated for reasoning about program behaviors, verifying compilers etc.,…
We present MOSS, a multi-objective optimization framework for constructing stable sets of decision rules. MOSS incorporates three important criteria for interpretability: sparsity, accuracy, and stability, into a single multi-objective…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Reduced order modeling methods are often used as a mean to reduce simulation costs in industrial applications. Despite their computational advantages, reduced order models (ROMs) often fail to accurately reproduce complex dynamics…
In this chapter we discuss the problem of master failure in ROS1.0 and its impact on robotic deployments in the real world. We address this issue in this tutorial chapter where we outline, design and demonstrate a fault tolerant mechanism…
The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is indeed potential for more secure and trustable distributed…
This paper introduces CrazyChoir, a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides a comprehensive set of functionalities to simulate and run experiments on teams of cooperating Crazyflie…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
Multi-mode real-time systems are those which support applications with different modes of operation, where each mode is characterized by a specific set of tasks. At run-time, such systems can, at any time, be requested to switch from its…