Related papers: Robot Operating System 2: Design, Architecture, an…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
A unified mathematical model for synchronisation and swarming has recently been proposed. Each system entity, called a "swarmalator", coordinates its internal phase and location with the other entities in a way that these two attributes are…
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…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
The 5G mobile networks extend the capability for supporting collaborative robot operations in outdoor scenarios. However, the restricted battery life of robots still poses a major obstacle to their effective implementation and utilization…
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…
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…
Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
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…
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…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a…
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and intercede when necessary, manually or autonomously. Prior work in…