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Embedded heterogeneous systems-on-chip (SoCs) rely on domain-specific hardware accelerators to improve performance and energy efficiency. In particular, programmable multi-core accelerators feature a cluster of processing elements and…
Recent advances in electronics are enabling substantial processing to be performed at each node (robots, sensors) of a networked system. Local processing enables data compression and may mitigate measurement noise, but it is still slower…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
Research on sixth-generation (6G) integrated sensing and communication (ISAC) increasingly depends on multimodal datasets. These datasets need to jointly characterize wireless propagation, onboard sensing, and platform mobility. Existing…
Integrated sensing, computation, and communication (ISCC) has been recently considered as a promising technique for beyond 5G systems. In ISCC systems, the competition for communication and computation resources between sensing tasks for…
Enabling secure and reliable high-bandwidth lowlatency connectivity between automated vehicles and external servers, intelligent infrastructure, and other road users is a central step in making fully automated driving possible. The…
SoCs are now designed with their own AI accelerator segment to accommodate the ever-increasing demand of Deep Learning (DL) applications. With powerful MAC engines for matrix multiplications, these accelerators show high computing…
Vehicular Ad-hoc Networks (VANETs) are integral to intelligent transportation systems, enabling vehicles to offload computational tasks to nearby roadside units (RSUs) and mobile edge computing (MEC) servers for real-time processing.…
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…
Overheads in Operating System kernel network stacks and sockets have been hindering OSes from managing networking operations efficiently for years. Moreover, when building Remote Procedure Calls over TCP, certain TCP features do not match…
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…
Inter-process communication (IPC) is one of the core functions of modern robotics middleware. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a core component of TZC, we design a novel algorithm called partial…
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…
The 6TiSCH protocol stack plays a vital role in enabling reliable and energy-efficient communications for the Industrial Internet of Things (IIoT). However, it faces challenges, including prolonged network formation, inefficient parent…
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting where each agent acquires sensor data and is capable of local…
The main focus of recent time synchronization research is developing power-efficient synchronization methods that meet pre-defined accuracy requirements. However, an aspect that has been often overlooked is the high dynamics of the network…
Embedded real-time devices for monitoring, controlling, and collaboration purposes in cyber-physical systems are now commonly equipped with IP networking capabilities. However, the reception and processing of IP packets generates workloads…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
A few years ago, Automotive area in the IoT was seen as theoretical concept and today we are already seeing the possibilities of not only driverless cars, but applications of IoT in the intelligent vehicles including parking, maintaining…
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…