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The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
We overview recent changes in the ROOT I/O system, increasing performance and enhancing it and improving its interaction with other data analysis ecosystems. Both the newly introduced compression algorithms, the much faster bulk I/O data…
With the rapid advancement of Intelligent Transportation Systems (ITS) and vehicular communications, Vehicular Edge Computing (VEC) is emerging as a promising technology to support low-latency ITS applications and services. In this paper,…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
To realize cooperative computation and communication in a relay mobile edge computing system, we develop a hybrid relay forward protocol, where we seek to balance the execution delay and network energy consumption. The problem is formulated…
Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed to extend and in some circumstances improve the dexterous capabilities of the human operator in virtual and remote environments. Dexterous manipulation, however,…
In this paper, we jointly consider communication, caching and computation in a multi-user cache-assisted mobile edge computing (MEC) system, consisting of one base station (BS) of caching and computing capabilities and multiple users with…
With the rapid increment of multiple users for data offloading and computation, it is challenging to guarantee the quality of service (QoS) in remote areas. To deal with the challenge, it is promising to combine aerial access networks…
Resource-constrained systems are prevalent in communications. Such a system is composed of many components but only some of them can be allocated with resources such as time slots. According to the amount of information about the system,…
Network Virtualization is one of the key technologies for developing the future mobile networks. However, the performance of virtual mobile entities may not be sufficient for delivering the service required for future networks in terms of…
Suboptimal methods in optimal control arise due to a limited computational budget, unknown system dynamics, or a short prediction window among other reasons. Although these methods are ubiquitous, their transient performance remains…
Telerobotic technologies are becoming increasingly essential in fields such as remote surgery, nuclear decommissioning, and space exploration. Reliable datasets and testbeds are essential for evaluating telerobotic system performance prior…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
This paper investigates a rotatable antenna (RA) assisted mobile edge computing (MEC) network, where multiple users offload their computation tasks to an edge server equipped with an RA array under a time-division multiple access protocol.…
Mobile crowdsensing (MCS) networks enable large-scale data collection by leveraging the ubiquity of mobile devices. However, frequent sensing and data transmission can lead to significant resource consumption. To mitigate this issue, edge…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
In this paper, a semantic-aware joint communication and computation resource allocation framework is proposed for mobile edge computing (MEC) systems. In the considered system, each terminal device (TD) has a computation task, which needs…
Mobile Edge Computing (MEC) has recently emerged as a promising technology in the 5G era. It is deemed an effective paradigm to support computation-intensive and delay critical applications even at energy-constrained and computation-limited…
Introduction. The purpose of this work is the evaluation of responsiveness when remote users communicate with a human-readable knowledge base (KB). Responsiveness [R(s)] is considered here as a measure of service quality. Method. The…