Related papers: Budget-based real-time Executor for Micro-ROS
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource for systems that do not contain high computing power…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
This paper describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such…
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet…
The Linux kernel is mostly designed for multi-programed environments, but high-performance applications have other requirements. Such applications are run standalone, and usually rely on runtime systems to distribute the application's…
As we are entering an early-FTQC era, circuit execution protocols with logical qubits and certain error-correcting codes are being discussed. Here, we propose a circuit execution protocol for the space-time efficient analog rotation (STAR)…
Time-Aware Shaper (TAS) is a time-triggered scheduling mechanism that ensures bounded latency for time-critical Scheduled Traffic (ST) flows. The Linux kernel implementation (a.k.a TAPRIO) has limited capabilities due to varying CPU…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
Multi-cloud systems facilitate a cost-efficient and geographically-distributed deployment of microservice-based applications by temporary leasing virtual nodes with diverse pricing models. To preserve the cost-efficiency of multi-cloud…
In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Emerging real-time applications have driven the transition to multicore embedded systems, where tasks must share resources due to functional demands and limited availability. These resources, whether local or global, are protected within…
The main objective of this paper is to develop the two different ways in which round robin architecture is modified and made suitable to be implemented in real time and embedded systems. The scheduling algorithm plays a significant role in…
The surging demand for GPUs in datacenters for machine learning (ML) has made efficient GPU utilization crucial. However, meeting the diverse needs of ML models while optimizing resource usage is challenging. To enable transparent,…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…