Related papers: Xronos: Predictable Coordination for Safety-Critic…
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…
Electric vehicles (EVs) are being rapidly adopted due to their economic and societal benefits. Autonomous mobility-on-demand (AMoD) systems also embrace this trend. However, the long charging time and high recharging frequency of EVs pose…
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…
In this paper we represent a new framework for integrated distributed systems. In the proposed framework we have used three parts to increase Satisfaction and Performance of this framework. At first we analyse integrated systems and their…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
Embedded systems in safety-critical environments are continuously required to deliver more performance and functionality, while expected to provide verified safety guarantees. Nonetheless, platform-wide software verification (required for…
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…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Centralized architectures for systems such as smart offices and homes are rapidly becoming obsolete due to inherent inflexibility in their design and management. This is because such systems should not only be easily re-configurable with…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Driving safety and responsibility determination are indispensable pieces of the puzzle for autonomous driving. They are also deeply related to the allocation of right-of-way and the determination of accident liability. Therefore,…
Several Network Operating Systems (NOS) have been proposed in the last few years for Software Defined Networks; however, a few of them are currently offering the resiliency, scalability and high availability required for production…
Reconfigurable data center networks (DCNs) enhance traditional architectures with optical circuit switches (OCSs), enabling dynamic reconfiguration of inter-pod links, i.e., the logical topology. Optimizing this topology is crucial for…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…