Related papers: Message Flow Analysis with Complex Causal Links fo…
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…
Causal inference seeks to identify cause-and-effect interactions in coupled systems. A recently proposed method by Liang detects causal relations by quantifying the direction and magnitude of information flow between time series. The…
Probabilistic inference problems arise naturally in distributed systems such as sensor networks and teams of mobile robots. Inference algorithms that use message passing are a natural fit for distributed systems, but they must be robust to…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
Distributed software development is more difficult than co-located software development. One of the main reasons is that communication is more difficult in distributed settings. Defined processes and artifacts help, but cannot cover all…
Simulation-to-real is the task of training and developing machine learning models and deploying them in real settings with minimal additional training. This approach is becoming increasingly popular in fields such as robotics. However,…
Large-scale international collaborations such as ATLAS rely on globally distributed workflows and data management to process, move, and store vast volumes of data. ATLAS's Production and Distributed Analysis (PanDA) workflow system and the…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
As the domain of cyber-physical systems continues to grow, an increasing number of tightly-coupled distributed applications will be implemented on top of wireless networking technologies. Some of these applications, including collaborative…
Information flow provides a natural measure for the causal interaction between dynamical events. This study extends our previous rigorous formalism of componentwise information flow to the bulk information flow between two complex…
Foundation models can endow robots with open-ended reasoning, language understanding, and adaptive planning, yet connecting a model to a physical robot today requires bespoke integration that couples perception, actuation, and safety to a…
In this paper we focus on the distributed quantized average consensus problem in open multi-agent systems consisting of dynamic directed communication links among active nodes. We propose three communication-efficient distributed algorithms…
We study the problem of monitoring distributed systems where computers communicate using message passing and share an almost synchronized clock. This is a realistic scenario for networks where the speed of the monitoring is sufficiently…
The increasing complexity and interconnectivity of digital infrastructures make scalable and reliable security assessment methods essential. Robotic systems represent a particularly important class of operational technology, as modern…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
Distributed stream processing systems are widely deployed to process real-time data generated by various devices, such as sensors and software systems. A key challenge in the system is overloading, which leads to an unstable system status…
We study the classic subgraph enumeration problem under distributed settings. Existing solutions either suffer from severe memory crisis or rely on large indexes, which makes them impractical for very large graphs. Most of them follow a…