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SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
Hardware-firmware integration is becoming a productivity bottleneck due to the increasing complexity of accelerators, characterized by intricate memory hierarchies and firmware-intensive execution. While numerous verification techniques…
In the trend towards hardware specialization, FPGAs play a dual role as accelerators for offloading, e.g., network virtualization, and as a vehicle for prototyping and exploring hardware designs. While FPGAs offer versatility and…
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…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
We used ROS2 as a platform to conduct AI research for developing a Follow-Me capability as a proof-of-concept on a wheeled robot, demonstrating that AI research is possible in the ROS2 framework. We developed a complete system that uses…
With the emerging big data applications of Machine Learning, Speech Recognition, Artificial Intelligence, and DNA Sequencing in recent years, computer architecture research communities are facing the explosive scale of various data…
Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…
We present software facilitating the usage of the BrainScaleS-2 analog neuromorphic hardware system as an inference accelerator for artificial neural networks. The accelerator hardware is transparently integrated into the PyTorch machine…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
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…
Accelerating Human Action Recognition (HAR) efficiently for real-time surveillance and robotic systems on edge chips remains a challenging research field, given its high computational and memory requirements. This paper proposed an…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. The…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is indeed potential for more secure and trustable distributed…
Heterogeneous computers integrate general-purpose host processors with domain-specific accelerators to combine versatility with efficiency and high performance. To realize the full potential of heterogeneous computers, however, many…
Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…