Related papers: Message Flow Analysis with Complex Causal Links fo…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
While detailed resource usage monitoring is possible on the low-level using proper tools, associating such usage with higher-level abstractions in the application layer that actually cause the resource usage in the first place presents a…
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…
We introduce and test the System Dynamics Bot, a computer program leveraging a large language model to automate the creation of causal loop diagrams from textual data. To evaluate its performance, we ensembled two distinct databases. The…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
Understanding communication behavior in modern system-on-chip (SoC) designs is critical for functional verification, performance analysis, and post-silicon debugging. Communication traces capture message exchanges among system components…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
Runtime verification consists in observing and collecting the execution traces of a system and checking them against a specification, with the objective of raising an error when a trace does not satisfy the specification. We consider…
We study distribution-free root cause analysis in multi-stream data, where an evolving underlying system is observed through multiple data streams that may each undergo distributional changes at unknown timepoints. In such settings, the…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
The paper presents structures and techniques aimed towards co-designing scalable asynchronous and decentralized dynamic graph processing for fine-grain memory-driven architectures. It uses asynchronous active messages, in the form of…
We consider the problem of learning motion policies for acceleration-based robotics systems with a structured policy class specified by RMPflow. RMPflow is a multi-task control framework that has been successfully applied in many robotics…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
We consider the scenario of $n$ sensor nodes observing streams of data. The nodes are connected to a central server whose task it is to compute some function over all data items observed by the nodes. In our case, there exists a total order…
The Data Distribution Service (DDS) is a widely used communication specification for real-time mission-critical systems that follow the principles of publish-subscribe middleware. DDS has an extensive set of quality of service (QoS)…
Collaboration is crucial for reaching collective goals. However, its effectiveness is often undermined by the strategic behavior of individual agents -- a fact that is captured by a high Price of Stability (PoS) in recent literature [Blum…
Model-Driven Engineering (MDE) relies on explicit architecture models to document and evolve systems across abstraction levels. For ROS~2, subsystem structure is often encoded implicitly in distributed configuration artifacts -- most…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
Foundation vision-language models are becoming increasingly relevant to robotics because they can provide richer semantic perception than narrow task-specific pipelines. However, their practical adoption in robot software stacks still…