Related papers: ElasticROS: An Elastically Collaborative Robot Ope…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
Emerging technologies that generate a huge amount of data such as the Internet of Things (IoT) services need latency aware computing platforms to support time-critical applications. Due to the on-demand services and scalability features of…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
The Internet of Things (IoT) is offering unprecedented observational data that are used for managing Smart City utilities. Edge and Fog gateway devices are an integral part of IoT deployments to acquire real-time data and enact controls.…
Load balancing is the process of improving the Performance of a parallel and distributed system through is distribution of load among the processors [1-2]. Most of the previous work in load balancing and distributed decision making in…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
This paper investigates a three-layer IoT-fog-cloud computing system to determine the optimum workload and power allocation at each layer. The objective is to minimize maximum per-layer latency (including both data processing and…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Fog computing can support IoT services with fast response time and low bandwidth usage by moving computation from the cloud to edge devices. However, existing fog computing frameworks have limited flexibility to support dynamic service…
Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control…
This experience report presents the results of an extensive performance evaluation conducted using four open-source implementations of Paxos deployed in Amazon's EC2. Paxos is a fundamental algorithm for building fault-tolerant services, at…
The underlying framework for controlling autonomous robots and complex automation applications are Operating Systems (OS) capable of scheduling perception-and-control tasks, as well as providing real-time data communication to other robotic…
Modern Internet services are increasingly leveraging on cloud computing for flexible, elastic and on-demand provision. Typically, Quality of Service (QoS) of cloud-based services can be tuned using different underlying cloud configurations…
The rapid expansion of AI inference services in the cloud necessitates a robust scalability solution to manage dynamic workloads and maintain high performance. This study proposes a comprehensive scalability optimization framework for cloud…