Related papers: Adaptive Computing in Robotics, Leveraging ROS 2 t…
With FPGAs now being deployed in the cloud and at the edge, there is a need for scalable design methods which can incorporate the heterogeneity present in the hardware and software components of FPGA systems. Moreover, these FPGA systems…
Teaching Robotics is about empowering students to create and configure robotics devices and program computers to nurture in students the skill sets necessary to play an active role in society. The robot in Figure 1 focuses on the design of…
Despite considerable efforts on making them robust, real-world AI-based systems remain vulnerable to decision based attacks, as definitive proofs of their operational robustness have so far proven intractable. Canonical robustness…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…
Flexibility at hardware level is the main driving force behind adaptive systems whose aim is to realise microarhitecture deconfiguration 'online'. This feature allows the software/hardware stack to tolerate drastic changes of the workload…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
An architectural approach to self-adaptive systems involves runtime change of system configuration (i.e., the system's components, their bindings and operational parameters) and behaviour update (i.e., component orchestration). Thus,…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
The challenges involved in executing neural networks (NNs) at the edge include providing diversity, flexibility, and sustainability. That implies, for instance, supporting evolving applications and algorithms energy-efficiently. Using…
Novel assembly processes for nanocircuits could present compelling alternatives to the detailed design and placement currently used for computers. The resulting architectures however may not be programmable by standard means. In this paper,…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
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…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…
Today, there is a trend to incorporate more intelligence (e.g., vision capabilities) into a wide range of devices, which makes high performance a necessity for computing systems. Furthermore, for embedded systems, low power consumption…
Dynamic software adaptability is one of the central features leveraged by autonomic computing. However, developing software that changes its behavior at run time adapting to the operational conditions is a challenging task. Several…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
After Industry 4.0 has embraced tight integration between machinery (OT), software (IT), and the Internet, creating a web of sensors, data, and algorithms in service of efficient and reliable production, a new concept of Society 5.0 is…
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…