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The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Recent embedded systems are designed with high-performance System-on-Chips (SoCs) to satisfy the computational needs of complex applications widely used in real life, such as airplane controllers, autonomous driving automobiles, medical…
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…
Time predictable edge cloud is seen as the answer for many arising needs in Industry 4.0 environments, since it is able to provide flexible, modular, and reconfigurable services with low latency and reduced costs. Orchestration systems are…
We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…
The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…
The rise of intelligent autonomous systems, especially in robotics and autonomous agents, has created a critical need for robust communication middleware that can ensure real-time processing of extensive sensor data. Current robotics…
With the increasing ubiquity of autonomous robotic solutions, the interest in their connectivity and in the cooperation within multi-robot systems is rising. Two aspects that are a matter of current research are robot security and secure…
Robots are improving their autonomy with minimal human supervision. However, auditable actions, transparent decision processes, and new human-robot interaction models are still missing requirements to achieve extended robot autonomy. To…
We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
In communication-denied or contested environments, Line-of-Sight (LoS) communication (e.g free space optical communication using infrared or visible light) becomes one of the most reliable and efficient ways to send information between…
Studies predict that demand for autonomous vehicles will increase tenfold between 2019 and 2026. However, recent high-profile accidents have significantly impacted consumer confidence in this technology. The cause for many of these…
This paper presents Boomerang, an I/O system that integrates a legacy non-real-time OS with one that is customized for timing-sensitive tasks. A relatively small RTOS benefits from the pre-existing libraries, drivers and services of the…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Autonomous vehicles bring the promise of enhancing the consumer experience in terms of comfort and convenience and, in particular, the safety of the autonomous vehicle. Safety functions in autonomous vehicles such as Automatic Emergency…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…
Recent advances in machine learning technologies and sensing have paved the way for the belief that safe, accessible, and convenient autonomous vehicles may be realized in the near future. Despite tremendous advances within this context,…
Fault tolerance is a property which needs deeper consideration when dealing with streaming jobs requiring high levels of availability and low-latency processing even in case of failures where Quality-of-Service constraints must be adhered…