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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…
Cooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation and to bridge the gap between development and real-world deployment. However, their complexity and cost often hinder its…
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…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven methods require training the controller for each morphology to…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
The use of machine learning in cyber-physical systems has attracted the interest of both industry and academia. However, no general solution has yet been found against the unpredictable behavior of neural networks and reinforcement learning…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
In the near future, the development of autonomous driving will get more complex as the vehicles will not only rely on their own sensors but also communicate with other vehicles and the infrastructure to cooperate and improve the driving…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
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…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
The increasing integration of renewable energy resources requires so-called smart grid services for monitoring, control and automation tasks. Simulation environments are vital for evaluating and developing innovative solutions and…
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…
This technical report describes GrADyS-SIM, a framework for simulating cooperating swarms of UAVs in joint mission in hypothetical landscape and communicating through RF radios. The framework was created to aid and verify the communication,…