Related papers: Message Flow Analysis with Complex Causal Links fo…
The paper proposes a solution an actual scientific problem related to load balancing and efficient utilization of resources of the distributed system. The proposed method is based on calculation of load CPU, memory, and bandwidth by flows…
Autoware is an autonomous driving system implemented on Robot Operation System (ROS) 2, where an end-to-end timing guarantee is crucial to ensure safety. However, existing ROS 2 cause-effect chain models for analyzing end-to-end latency…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
Structural causal models describe how the components of a robotic system interact. They provide both structural and functional information about the relationships that are present in the system. The structural information outlines the…
This paper focuses on the broadcast of information on robot networks with stochastic network interconnection topologies. Problematic communication networks are almost unavoidable in areas where we wish to deploy multi-robotic systems,…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
With the increasing importance of distributed scientific workflows, there is a critical need to ensure Quality of Service (QoS) constraints, such as minimizing time or limiting execution to resource subsets. However, the unpredictable…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
In the wide area master-slave PLC (powerline communication) system, the source node cannot reach the destination node without packet relay. Due to the time-variable attenuation in the powerline, the communication distance cannot be defined.…
Automation and computer intelligence to support complex human decisions becomes essential to manage large and distributed systems in the Cloud and IoT era. Understanding the root cause of an observed symptom in a complex system has been a…
The Robot Operating System (ROS) is a popular robotics middleware framework. In the last years, it underwent a redesign and reimplementation under the name ROS~2. It now features QoS-configurable communication and a flexible layered…
Despite the increasing maturity of model-driven software development (MDD), some research challenges remain open in the field of information systems (IS). For instance, there is a need to improve modelling techniques so that they cover…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally developed for the lesser known Fawkes…
We propose a framework for the derivation and evaluation of distributed iterative algorithms for receiver cooperation in interference-limited wireless systems. Our approach views the processing within and collaboration between receivers as…
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Language instructions and demonstrations are two natural ways for users to teach robots personalized tasks. Recent progress in Large Language Models (LLMs) has shown impressive performance in translating language instructions into code for…
Massive graphs, such as online social networks and communication networks, have become common today. To efficiently analyze such large graphs, many distributed graph computing systems have been developed. These systems employ the "think…