Related papers: Budget-based real-time Executor for Micro-ROS
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based interactive computational environment affording scientific…
This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close…
This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
Real-time systems are intrinsic components of many pivotal applications, such as self-driving vehicles, aerospace and defense systems. The trend in these applications is to incorporate multiple tasks onto fewer, more powerful hardware…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
Budget pacing is a popular service that has been offered by major internet advertising platforms since their inception. Budget pacing systems seek to optimize advertiser returns subject to budget constraints by smoothly spending advertiser…
Implementing new, high-performance MAC protocols requires real-time features, to be able to synchronize correctly between different unrelated devices. Such features are highly desirable for operating wireless sensor networks (WSN) that are…
Based on the two observations that diverse applications perform better on different multicore architectures, and that different phases of an application may have vastly different resource requirements, Pal et al. proposed a novel…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
Due to physical isolation as well as use of proprietary hardware and protocols, traditional real-time systems (RTS) were considered to be invulnerable to security breaches and external attacks. However, this assumption is being challenged…
Many hardware structures in today's high-performance out-of-order processors do not scale in an efficient way. To address this, different solutions have been proposed that build execution schedules in an energy-efficient manner. Issue time…
Multi-socket multi-core servers are used for solving some of the important problems in computing. Remote DRAM accesses can impact performance of certain applications running on such servers. This paper presents a new near linear operating…
Due to the increasing complexity seen in both workloads and hardware resources in state-of-the-art embedded systems, developing efficient real-time schedulers and the corresponding schedulability tests becomes rather challenging. Although…
This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…