Related papers: FogROS2: An Adaptive Platform for Cloud and Fog Ro…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
The integration of cloud computing and edge computing is an effective way to achieve global consistent and real-time multi-robot Simultaneous Localization and Mapping (SLAM). Cloud computing effectively solves the problem of limited…
In this paper we present Foggy, an architectural framework and software platform based on Open Source technologies. Foggy orchestrates application workload, negotiates resources and supports IoT operations for multi-tier, distributed,…
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…
The evolution of smart cities demands scalable, secure, and energy-efficient architectures for real-time data processing. With the number of IoT devices expected to exceed 40 billion by 2030, traditional cloud-based systems are increasingly…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…
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…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
In this paper, we intend to reduce the operational cost of cloud data centers with the help of fog devices, which can avoid the revenue loss due to wide-area network propagation delay and save network bandwidth cost by serving nearby cloud…
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…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
The increasing use of Internet of Things (IoT) devices generates a greater demand for data transfers and puts increased pressure on networks. Additionally, connectivity to cloud services can be costly and inefficient. Fog computing provides…
Edge/fog computing, as a distributed computing paradigm, satisfies the low-latency requirements of ever-increasing number of IoT applications and has become the mainstream computing paradigm behind IoT applications. However, because large…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
Resource management is the principal factor to fully utilize the potential of Edge/Fog computing to execute real-time and critical IoT applications. Although some resource management frameworks exist, the majority are not designed based on…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…