Related papers: A software toolkit and hardware platform for inves…
While current research and development of autonomous driving primarily focuses on developing new features and algorithms, the transfer from isolated software components into an entire software stack has been covered sparsely. Besides that,…
Off-road autonomy validation presents unique challenges due to the unpredictable and dynamic nature of off-road environments. Traditional methods focusing on sequentially sweeping across the parameter space for variability analysis struggle…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in which fragmented and monolithic designs…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
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…
In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a…
The field of autonomous vehicle research is advancing rapidly, necessitating platforms that meet real-time performance, safety, and security requirements for practical deployment. AUTOSAR Adaptive Platform (AUTOSAR AP) is widely adopted in…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
Simulation is one of the most essential parts in the development stage of automotive software. However, purely virtual simulations often struggle to accurately capture all real-world factors due to limitations in modeling. To address this…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
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…
Increasing the implemented SAE level of autonomy in road vehicles requires extensive simulations and verifications in a realistic simulation environment before proving ground and public road testing. The level of detail in the simulation…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
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…
Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…
Understanding how people view and interact with autonomous vehicles is important to guide future directions of research. One such way of aiding understanding is through simulations of virtual environments involving people and autonomous…