Related papers: SROS2: Usable Cyber Security Tools for ROS 2
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…
Linux containers have risen in popularity in the last few years, making their way to commercial IT service offerings (such as PaaS), application deployments, and Continuous Delivery/Integration pipelines within various development teams.…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
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…
Distribution Service (DDS) is a realtime peer-to-peer protocol that serves as a scalable middleware between distributed networked systems found in many Industrial IoT domains such as automotive, medical, energy, and defense. Since the…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…
Cloud service providers provide over 50,000 distinct and dynamically changing set of cloud server options. To help roboticists make cost-effective decisions, we present FogROS2-Config, an open toolkit that takes ROS2 nodes as input and…
Robots are being applied in a vast range of fields, leading researchers and practitioners to write tasks more complex than in the past. The robot software complexity increases the difficulty of engineering the robot's software components…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
This paper puts forward a safe mechanism of data transmission to tackle the security problem of information which is transmitted in Internet. The encryption standards such as DES (Data Encryption Standard), AES (Advanced Encryption…
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…
This research focused on utilizing ROS2 and Gazebo for simulating the TurtleBot3 robot, with the aim of exploring autonomous navigation capabilities. While the study did not achieve full autonomous navigation, it successfully established…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
Many nations are promoting the green transition in the energy sector to attain neutral carbon emissions by 2050. Smart Grid 2.0 (SG2) is expected to explore data-driven analytics and enhance communication technologies to improve the…
As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyber-physical systems: they can operate in virtual, physical, and human realms.…
Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…
Conventional cryptography methods alone are not adequate for secure routing in Wireless Sensor Networks (WSNs). These networks are more vulnerable to security attacks due to their diverse applications, lack of supervision and limitations in…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…