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ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
Real-time end-to-end task scheduling in networked control systems (NCSs) requires the joint consideration of both network and computing resources to guarantee the desired quality of service (QoS). This paper introduces a new model for…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
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…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as…
Power consumption is a critical consideration in high performance computing systems and it is becoming the limiting factor to build and operate Petascale and Exascale systems. When studying the power consumption of existing systems running…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
ROS 2 has become a dominant middleware for robotic systems, where perception, estimation, planning, and control pipelines are structured as directed acyclic graphs of callbacks executed under a shared executor. However, default ROS 2…
FreeRTOS is a real-time operating system with configurable scheduling policies. Its portability and configurability make FreeRTOS one of the most popular real-time operating systems for embedded devices. We formally analyze the FreeRTOS…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…
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,…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…