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Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors.…
Recently, intermittent computing (IC) has received tremendous attention due to its high potential in perpetual sensing for Internet-of-Things (IoT). By harvesting ambient energy, battery-free devices can perform sensing intermittently…
This dissertation explores the area of real-time IP networking for embedded devices, especially those with limited computational resources. With the increasing convergence of information and operational technologies in various industries,…
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…
Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
Cross reality integration of simulation and physical robots is a promising approach for multi-robot operations in contested environments, where communication may be intermittent, interference may be present, and observability may be…
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)…
Accurate and fast-convergent time synchronization is very important for wireless sensor networks. The flooding time synchronization converges fast, but its transmission delay and by-hop error accumulation seriously reduce the…
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…
In the Internet of Things (IoT) domain, various heterogeneous ubiquitous devices would be able to connect and communicate with each other seamlessly, irrespective of the domain. Semantic representation of data through detailed standardized…
In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both…
In wireless sensor networks (WSNs), implementing a high-precision time synchronization scheme on resource-constrained sensor nodes is a major challenge. Our investigation of the practical implementation on a real testbed of the…
With the growing need for automation and the ongoing merge of OT and IT, industrial networks have to transport a high amount of heterogeneous data with mixed criticality such as control traffic, sensor data, and configuration messages.…
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…
Decentralized control in multi-robot systems is dependent on accurate and reliable communication between agents. Important communication factors, such as latency and packet delivery ratio, are strong functions of the number of agents in the…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
In this paper, we consider a dense vehicular communication network where each vehicle broadcasts its safety information to its neighborhood in each transmission period. Such applications require low latency and high reliability, and thus,…
Designing distributed, fast and reliable wireless consensus protocols is instrumental in enabling mission-critical decentralized systems, such as robotic networks in the industrial Internet of Things (IIoT), drone swarms in rescue missions,…
Meta-surfaces, also known as Reconfigurable Intelligent Surfaces (RIS), have emerged as a cost-effective, low power consumption, and flexible solution for enabling multiple applications in Internet of Things (IoT). However, in the context…