Related papers: ReconROS Executor: Event-Driven Programming of FPG…
Nowadays, FPGAs are integrated in high-performance computing systems, servers, or even used as accelerators in System-on-Chip (SoC) platforms. Since the execution is performed in hardware, FPGA gives much higher performance and lower energy…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
Due to the highly variable execution context in which edge services run, adapting their behavior to the execution context is crucial to comply with their requirements. However, adapting service behavior is a challenging task because it is…
Autonomous robots are increasingly prevalent in our society, emerging in medical care, transportation vehicles, and home assistance. These robots rely on motion planning and collision detection to identify a sequence of movements allowing…
With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This…
Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the…
This paper describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such…
Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way.…
Edge/fog computing, as a distributed computing paradigm, satisfies the low-latency requirements of ever-increasing number of IoT applications and has become the mainstream computing paradigm behind IoT applications. However, because large…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
Due to the high performance and safety requirements of self-driving applications, the complexity of modern autonomous driving systems (ADS) has been growing, instigating the need for more sophisticated hardware which could add to the energy…
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them. The design includes a dedicated component, named Reference…
Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
Spiking Neural Networks (SNNs) have emerged as a promising approach to improve the energy efficiency of machine learning models, as they naturally implement event-driven computations while avoiding expensive multiplication operations. In…
Event cameras are bio-inspired vision sensors that asynchronously represent pixel-level brightness changes as event streams. Event-based monocular multi-view stereo (EMVS) is a technique that exploits the event streams to estimate…
The challenges involved in executing neural networks (NNs) at the edge include providing diversity, flexibility, and sustainability. That implies, for instance, supporting evolving applications and algorithms energy-efficiently. Using…
Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…
Modern field programmable gate array(FPGA) can be partially dynamically reconfigurable with heterogeneous resources distributed on the chip. And FPGA-based partially dynamically reconfigurable system(FPGA-PDRS) can be used to accelerate…
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.…