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Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
As multimodal and AI-driven services exchange hundreds of megabytes per request, existing IPC runtimes spend a growing share of CPU cycles on memory copies. Although both hardware and software mechanisms are exploring memory offloading,…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
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…
Ensuring safety in high-speed autonomous vehicles requires rapid control loops and tightly bounded delays from perception to actuation. Many open-source autonomy systems rely on ROS 2 middleware; when multiple sensor and control nodes share…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Centralized architectures for systems such as smart offices and homes are rapidly becoming obsolete due to inherent inflexibility in their design and management. This is because such systems should not only be easily re-configurable with…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
This paper seeks to address the question of designing distributed algorithms for the setting of compact memory i.e. sublinear bits working memory for arbitrary connected networks. The nodes in our networks may have much lower internal…
Integrated sensing, communication, and computation (ISCC) is emerging as a unified design paradigm for future vehicular networks that require joint environment perception, safety-critical information exchange, and latency-sensitive task…
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…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. The…
True zero-copy Inter-Process Communication (IPC) in publish/subscribe (pub/sub) middleware such as Robot Operating System 2 (ROS 2) requires subscribers to reference message objects in publisher-owned shared memory. Objects must not be…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
This paper presents EdgeLoc, an infrastructure-assisted, real-time localization system for autonomous driving that addresses the incompatibility between traditional localization methods and deep learning approaches. The system is built on…
Since very few contributions to the development of an unified memory orchestration framework for efficient management of both host and remote idle memory have been made, we present Valet, an efficient approach to orchestration of host and…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
Recently, intermittent computing (IC) has received tremendous attention due to its high potential in perpetual sensing for Internet-of-Things (IoT). By harvesting ambient energy, battery-free devices can perform sensing intermittently…