Related papers: fpgaDDS: An Intra-FPGA Data Distribution Service f…
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…
In magnetic resonance imaging (MRI), the spectrometer is a fundamental component of MRI systems, responsible for the transmission of radiofrequency (RF) pulses that excite hydrogen nuclei and the subsequent acquisition of MR signals for…
3D reconstruction from videos has become increasingly popular for various applications, including navigation for autonomous driving of robots and drones, augmented reality (AR), and 3D modeling. This task often combines traditional…
In the future 6G and wireless networks, particularly in dense urban environments, bandwidth exhaustion and limited capacity pose significant challenges to enhancing data rates. We introduce a novel system model designed to improve the data…
Perfect synchronization in distributed machine learning problems is inefficient and even impossible due to the existence of latency, package losses and stragglers. We propose a Robust Fully-Asynchronous Stochastic Gradient Tracking method…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
Deep packet inspection via regular expression (RE) matching is a crucial task of network intrusion detection systems (IDSes), which secure Internet connection against attacks and suspicious network traffic. Monitoring high-speed computer…
Edge/Fog computing is a novel computing paradigm that provides resource-limited Internet of Things (IoT) devices with scalable computing and storage resources. Compared to cloud computing, edge/fog servers have fewer resources, but they can…
We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domain decomposition. ROBO offers a middle ground between…
Autonomous control systems onboard planetary rovers and spacecraft benefit from having cognitive capabilities like learning so that they can adapt to unexpected situations in-situ. Q-learning is a form of reinforcement learning and it has…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
The fog radio access network (F-RAN) is a promising technology in which the user mobile devices (MDs) can offload computation tasks to the nearby fog access points (F-APs). Due to the limited resource of F-APs, it is important to design an…
The rapid growth of data size and accessibility in recent years has instigated a shift of philosophy in algorithm design for artificial intelligence. Instead of engineering algorithms by hand, the ability to learn composable systems…
LiDAR sensors have been widely used in many autonomous vehicle modalities, such as perception, mapping, and localization. This paper presents an FPGA-based deep learning platform for real-time point cloud processing targeted on autonomous…
Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
Different from conventional reconfigurable intelligent surfaces (RIS), a recent innovation called simultaneous transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) has emerged, aimed at achieving complete 360-degree…
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…
By providing highly efficient one-sided communication with globally shared memory space, Partitioned Global Address Space (PGAS) has become one of the most promising parallel computing models in high-performance computing (HPC). Meanwhile,…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…