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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…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
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…
Real-time scheduling in commoditized component-oriented real-time systems, such as ROS 2 systems on Linux, has been studied under nested scheduling: OS thread scheduling and middleware layer scheduling (e.g., ROS 2 Executor). However, by…
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…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
The automotive industry is currently undergoing a major transformation with respect to the Electric/Electronic (E/E) and software architecture, driven by a significant increase in the complexity of the technological stack within a vehicle.…
As the need for more computing power grows, traditional methods are hitting limits. To boost performance, we're expanding Central Processing Unit (CPU) capabilities and using specialized hardware accelerators. For example, mobile devices…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
With the emerging big data applications of Machine Learning, Speech Recognition, Artificial Intelligence, and DNA Sequencing in recent years, computer architecture research communities are facing the explosive scale of various data…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
The study of robotic manipulators is the main goal of Industrial Robotics Class, part of Control Engineers training course. There is a difficulty in preparing academic practices and projects in the area of robotics due to the high cost of…
FPGAs are an attractive type of accelerator for all-purpose HPC computing systems due to the possibility of deploying tailored hardware on demand. However, the common tools for programming and operating FPGAs are still complex to use,…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…