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Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not…
Real-time embedded systems require precise timing and fault detection to ensure correct behavior. Traditional tracing tools often rely on local desktops with limited processing and storage capabilities, which hampers large-scale analysis.…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
Modern software development and operations rely on monitoring to understand how systems behave in production. The data provided by application logs and runtime environment are essential to detect and diagnose undesired behavior and improve…
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,…
The issue of synchronization in the power grid is receiving renewed attention, as new energy sources with different dynamics enter the picture. Global metrics have been proposed to evaluate performance and analyzed under highly simplified…
Programs with constraints are hard to debug. In this paper, we describe a general architecture to help develop new debugging tools for constraint programming. The possible tools are fed by a single general-purpose tracer. A tracer-driver is…
In order to accurately identify the performance status of mobile devices and finely adjust the user experience, a real-time performance perception evaluation method based on TOPSIS (Technique for Order Preference by Similarity to Ideal…
This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
A traffic monitoring system is an integral part of Intelligent Transportation Systems (ITS). It is one of the critical transportation infrastructures that transportation agencies invest a huge amount of money to collect and analyze the…
The environmental perception of an autonomous vehicle is limited by its physical sensor ranges and algorithmic performance, as well as by occlusions that degrade its understanding of an ongoing traffic situation. This not only poses a…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
Profile Guided Optimization (PGO) uses runtime profiling to direct compiler optimization decisions, effectively combining static analysis with actual execution behavior to enhance performance. Runtime profiles, collected through…
Optimizing application performance in today's hardware architecture landscape is an important, but increasingly complex task, often requiring detailed performance analyses. In particular, data movement and reuse play a crucial role in…
While machine learning is traditionally a resource intensive task, embedded systems, autonomous navigation and the vision of the Internet-of-Things fuel the interest in resource efficient approaches. These approaches require a carefully…
5G and beyond networks promise advancements in bandwidth, latency, and connectivity. The Open Radio Access Network (O-RAN) framework enhances flexibility through network slicing and closed-loop RAN control. Central to this evolution is…
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…