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Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily influenced by, first, the control systems deploying…
As a promising key technology of 6th generation (6G) mobile communication system, integrated sensing and communication (ISAC) technology aims to make full use of spectrum resources to enable the functional integration of communication and…
Single-cell technologies generate high-dimensional point clouds of cells, enabling detailed characterization of complex patient states and treatment responses. Yet each patient is represented by an irregular point cloud rather than a simple…
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…
Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…
Rapid advancements in field robots have brought a new kind of cyber physical system (CPS)--unmanned robotic system--under the spotlight. In the upcoming sixth-generation (6G) era, these systems hold great potential to replace humans in…
We introduce a variant of the capacitated vehicle routing problem that is encountered in sensor networks for scientific data collection. Consider an undirected graph $G=(V \cup \{\mathbf{sink}\},E)$. Each vertex $v \in V$ holds a…
The evolution of architectures, programming models, and algorithms is driving communication towards greater asynchrony and concurrency, usually in multithreaded environments. We present LCI, a communication library designed for efficient…
Synchronization among autonomous agents via local interactions is one of the benchmark problems in multi-agent control. Whereas synchronization algorithms for identical agents have been thoroughly studied, synchronization of heterogeneous…
In the autonomous vehicle and self-driving paradigm, cooperative perception or exchanging sensor information among vehicles over wireless communication has added a new dimension. Generally, an autonomous vehicle is a special type of robot…
New advanced applications, such as autonomous driving and haptic communication, require to transmit multi-sensory data and require low latency and high reliability. These applications include. Existing implementations for such services have…
Decades of continuous scaling has reduced the energy of unit computing to virtually zero, while energy-efficient communication has remained the primary bottleneck in achieving fully energy-autonomous IoT nodes. This paper presents and…
The coordination of robotic swarms and the remote wireless control of industrial systems are among the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that needs to be shared over the…
The Industrial Internet of Things (IIoT) refers to the use of interconnected smart devices, sensors, and other technologies to create a network of intelligent systems that can monitor and manage industrial processes. 6TiSCH (IPv6 over the…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
RPL, the routing protocol proposed by IETF for IPv6/6LoWPAN Low Power and Lossy Networks has significant complexity. Another protocol called LOADng, a lightweight variant of AODV, emerges as an alternative solution. In this paper, we…
Integrated sensing and communication (ISAC) is a promising paradigm for future wireless systems due to spectrum reuse, hardware sharing, and joint waveform design. In dynamic scenes, Doppler shifts degrade both sensing and communication,…
In this paper, we explore a cooperative integrated sensing and communication (ISAC) framework that utilizes orthogonal frequency division multiplexing (OFDM) waveforms. Under the control of a central processing unit (CPU), multiple access…
Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acquisition, they predominantly operate in an open-loop manner:…