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This paper describes an implemented system which is designed to support the deployment of applications offering distributed services, comprising a number of distributed components. This is achieved by creating high level placement and…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
Reliable communication is a fundamental distributed communication abstraction that allows any two nodes of a network to communicate with each other. It is necessary for more powerful communication primitives, such as broadcast and…
With its growing use in industry, ROS is rapidly becoming a standard in robotics. While developments in ROS 2 show promise, the slow adoption cycles in industry will push widespread ROS 2 industrial adoption years from now. ROS will prevail…
Space exploration has witnessed a steady increase since the 1960s, with Mars playing a significant role in our quest for further knowledge. As the ambition to colonize Mars becomes a reality through the collaboration of private companies…
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…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
Nowadays, all sectors utilize devices that are part of the Internet of Things (IoT) for the purpose of connecting and exchanging information with other devices and systems over the Internet. This increases the diversity of devices and their…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
Multiple-input multiple-output (MIMO) signaling is one of the key technologies of current mobile communication systems. However, the complex and expensive radio frequency (RF) chains have always limited the increase of MIMO scale. In this…
Denial of service (DoS) and Distributed Denial of Service (DDoS) attacks continue to threaten the reliability of networking systems. Previous approaches for protecting networks from DoS attacks are reactive in that they wait for an attack…
This paper proposes using file system custom metadata as a bidirectional communication channel between applications and the storage system. This channel can be used to pass hints that enable cross-layer optimizations, an option hindered…
In this paper, we consider networked distributed systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. First, we consider a simple and typical scenario where…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…