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A simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) aided integrated sensing, computing, and communication (ISCC) Internet of Robotic Things (IoRT) framework is proposed. Specifically, the full-duplex…
Autonomous navigation systems based on computer vision sensors often require sophisticated robotics platforms which are very expensive. This poses a barrier for the implementation and testing of complex localization, mapping, and navigation…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
The monitoring of data generated by a large number of devices in Internet of Things (IoT) systems is an important and complex issue. Several studies have explored the use of generic rule engine, primarily based on the RETE algorithm, for…
As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource for systems that do not contain high computing power…
Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified…
In this paper, an indoor robot localization system based on Robot Operating System (ROS) and visible light communication (VLC) is presented. On the basis of our previous work, we innovatively designed a VLC localization and navigation…
Several Network Operating Systems (NOS) have been proposed in the last few years for Software Defined Networks; however, a few of them are currently offering the resiliency, scalability and high availability required for production…
Robot applications, comprising independent components that mutually publish/subscribe messages, are built on inter-process communication (IPC) middleware such as Robot Operating System 2 (ROS 2). In large-scale ROS 2 systems like autonomous…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Setting up robot environments to quickly test newly developed algorithms is still a difficult and time consuming process. This presents a significant hurdle to researchers interested in performing real-world robotic experiments. RobotIO is…
The underlying framework for controlling autonomous robots and complex automation applications are Operating Systems (OS) capable of scheduling perception-and-control tasks, as well as providing real-time data communication to other robotic…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…
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…
We develop a practical solution to the problem of automatic verification of the interface between device drivers and the OS. Our solution relies on a combination of improved driver architecture and verification tools. It supports drivers…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…
Voice recognition technology enables the execution of real-world operations through a single voice command. This paper introduces a voice recognition system that involves converting input voice signals into corresponding text using an…