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The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
The Robot Operating System (ROS) is a popular robotics middleware framework. In the last years, it underwent a redesign and reimplementation under the name ROS~2. It now features QoS-configurable communication and a flexible layered…
Recent advances in software, hardware, computing and control have fueled significant progress in the field of autonomous systems. Notably, autonomous machines should continuously estimate how the scenario in which they move and operate will…
As the automotive industry transitions toward centralized Linux-based architectures, ensuring the predictable execution of mixed-criticality applications becomes essential. However, concurrent use of the Linux network stack introduces…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
Automated Driving Systems (ADS) have rapidly evolved in recent years and their architecture becomes sophisticated. Ensuring robustness, reliability and safety of performance is particularly important. The main challenge in building an ADS…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…
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…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
In this paper, we explore mission assignment and task offloading in an Open Radio Access Network (Open RAN)-based intelligent transportation system (ITS), where autonomous vehicles leverage mobile edge computing for efficient processing.…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
In the framework of the ESPRIT project 28620 "TIRAN" (tailorable fault tolerance frameworks for embedded applications), a toolset of error detection, isolation, and recovery components is being designed to serve as a basic means for…
Embedded real-time systems (RTS) are pervasive. Many modern RTS are exposed to unknown security flaws, and threats to RTS are growing in both number and sophistication. However, until recently, cyber-security considerations were an…
In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…
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…
Teleoperated driving (TD) is envisioned as a key application of future sixth generation (6G) networks. In this paradigm, connected vehicles transmit sensor-perception data to a remote (software) driver, which returns driving control…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…