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Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
We present a synchronous robotic testbed called SyROF that allows fast implementation of robotic swarms. Our main goal is to lower the entry barriers to cooperative-robot systems for undergraduate and graduate students. The testbed provides…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
The behaviours of a swarm are not explicitly engineered. Instead, they are an emergent consequence of the interactions of individual agents with each other and their environment. This emergent functionality poses a challenge to safety…
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…
Connected vehicles are becoming commonplace. A constant connection between vehicles and a central server enables new features and services. This added connectivity raises the likelihood of exposure to attackers and risks unauthorized…
Inspection of infrastructure using static sensor nodes has become a well established approach in recent decades. In this work, we present an experimental setup to address a binary inspection task using mobile sensor nodes. The objective is…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
The number of interconnected devices is growing constantly due to rapid digitalization, thus providing attackers with a larger attack surface. Particularly in critical infrastructures and manufacturing, where processes can be observed and…
Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper,…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
This work aims at showing that it is feasible and safe to use a swarm of Unmanned Aerial Vehicles (UAVs) indoors alongside humans. UAVs are increasingly being integrated under the Industry 4.0 framework. UAV swarms are primarily deployed…
Remote attestation protocols are widely used to detect device configuration (e.g., software and/or data) compromise in Internet of Things (IoT) scenarios. Unfortunately, the performances of such protocols are unsatisfactory when dealing…
Cooperative autonomous driving, which extends vehicle autonomy by enabling real-time collaboration between vehicles and smart roadside infrastructure, remains a challenging yet essential problem. However, none of the existing testbeds…
Industrial cyber-physical systems (ICPS) integrate physical processes with computational and communication technologies in industrial settings. With the support of edge computing technology, it is feasible to schedule large-scale sensors…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
High-quality datasets can speed up breakthroughs and reveal potential developing directions in SLAM research. To support the research on corner cases of visual SLAM systems, this paper presents Ground-Challenge: a challenging dataset…