Related papers: Budget-based real-time Executor for Micro-ROS

This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…

The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity,…

Sense-react systems (e.g. robotics and AR/VR) have to take highly responsive real-time actions, driven by complex decisions involving a pipeline of sensing, perception, planning, and reaction tasks. These tasks must be scheduled on…

Embedded real-time systems (RTS) are pervasive. Many modern RTS are exposed to unknown security flaws, and threats to RTS are growing in both number and sophistication. However, until recently, cyber-security considerations were an…

Diverse workloads such as interactive supercomputing, big data analysis, and large-scale AI algorithm development, requires a high-performance scheduler. This paper presents a novel node-based scheduling approach for large scale simulations…

We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…

Motion planning and control in autonomous car racing are one of the most challenging and safety-critical tasks due to high speed and dynamism. The lower-level control nodes are expected to be highly optimized due to resource constraints of…

Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…

Due to the limited resource capacity of edge servers and the high purchase costs of edge resources, service providers are facing the new challenge of how to take full advantage of the constrained edge resources for Internet of Things (IoT)…

The main objective of this paper is to improve the Round Robin scheduling algorithm using the dynamic time slice concept. CPU scheduling becomes very important in accomplishing the operating system (OS) design goals. The intention should be…

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…

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…

We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interface into a single package. QTOS serves as a full-stack…

This paper analyzes execution instability in traditional cost-based database management systems (DBMS) and identifies a structural timing misalignment between optimization and execution stages that contributes to tail-latency amplification.…

With its growing use in industry, ROS is rapidly becoming a standard in robotics. While developments in ROS 2 show promise, the slow adoption cycles in industry will push widespread ROS 2 industrial adoption years from now. ROS will prevail…

The automobile Real-Time Operating System (RTOS) is hard to design and implement due to its real time features and increasing complexity. Some automobile RTOS standards are released aiming at unifying the software architecture of vehicle…

This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…

Purpose: Over the last few decades, the development of the hardware and software has enabled the application of advanced systems. In the robotics field, the UI design is an intriguing area to be explored due to the creation of devices with…