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The most important way to achieve higher performance in computer systems is through heterogeneous computing, i.e., by adopting hardware platforms containing more than one type of processor, such as CPUs, GPUs, and FPGAs. Several types of…
FPGAs are commonly used to accelerate domain-specific algorithmic implementations, as they can achieve impressive performance boosts, are reprogrammable and exhibit minimal power consumption. In this work, the SqueezeNet DCNN is accelerated…
We present the Pluggable Distributed Resource Allocator (PDRA), a middleware for distributed computing in heterogeneous mobile robotic networks. PDRA enables autonomous robotic agents to share computational resources for computationally…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
Today's data centers consist of thousands of network-connected hosts, each with CPUs and accelerators such as GPUs and FPGAs. These hosts also contain network interface cards (NICs), operating at speeds of 100Gb/s or higher, that are used…
FPGAs are well-suited for dataflow architectures that process data in a streaming or pipelined manner, thus satisfying the high computational and communication demands of emerging applications. However, manually implementing an efficient…
The growing use of service robots in dynamic environments requires flexible management of on-board compute resources to optimize the performance of diverse tasks such as navigation, localization, and perception. Current robot deployments…
Cloud service providers provide over 50,000 distinct and dynamically changing set of cloud server options. To help roboticists make cost-effective decisions, we present FogROS2-Config, an open toolkit that takes ROS2 nodes as input and…
The possibilities of robot control have multiplied across various domains through the application of deep reinforcement learning. To overcome safety and sampling efficiency issues, deep reinforcement learning models can be trained in a…
General-purpose processors feature a limited number of instructions based on an instruction set. They can be numerous, such as with vector extensions that include hundreds or thousands of instructions, but this comes at a cost; they are…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
Event processing is the cornerstone of the dynamic and responsive Internet of Things (IoT). Recent approaches in this area are based on representational state transfer (REST) principles, which allow event processing tasks to be placed at…
Advanced Driver-Assistance Systems (ADAS) is one of the primary drivers behind increasing levels of autonomy, driving comfort in this age of connected mobility. However, the performance of such systems is a function of execution rate which…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
Robot task execution when situated in real-world environments is fragile. As such, robot architectures must rely on robust error recovery, adding non-trivial complexity to highly-complex robot systems. To handle this complexity in…
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…