Related papers: fpgaDDS: An Intra-FPGA Data Distribution Service f…
There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
This paper presents a system consisting of the FPGA IP core, the simple network protocol and the Linux device driver, capable of efficient and reliable data transmission from a low resources FPGA chip to the Linux-based embedded computer…
Embedded system performances are bounded by power consumption. The trend is to offload greedy computations on hardware accelerators as GPU, Xeon Phi or FPGA. FPGA chips combine both flexibility of programmable chips and energy-efficiency of…
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…
FPGAs offer a flexible platform for accelerating deep neural network (DNN) inference, particularly for non-uniform workloads featuring fine-grained unstructured sparsity and mixed arithmetic precision. To leverage these redundancies, an…
Deep neural networks are an extremely successful and widely used technique for various pattern recognition and machine learning tasks. Due to power and resource constraints, these computationally intensive networks are difficult to…
In this treatise, my research on methods to improve efficiency, reliability, and security of reconfigurable hardware systems, i.e., FPGAs, through partial dynamic reconfiguration is outlined. The efficiency of reconfigurable systems can be…
Point cloud processing is a computational bottleneck in autonomous driving systems, especially for real-time applications, while energy efficiency remains a critical system constraint. This work presents FPPS, an FPGA-accelerated point…
Reconfigurable intelligent surfaces (RISs) have sparked a renewed interest in the research community envisioning future wireless communication networks. In this study, we analyzed the performance of RIS-enabled non-orthogonal multiple…
We study the classic subgraph enumeration problem under distributed settings. Existing solutions either suffer from severe memory crisis or rely on large indexes, which makes them impractical for very large graphs. Most of them follow a…
Reconfigurable intelligent surface (RIS) is a promising technology to avoid signal blockage by creating virtual line-of-sight (LOS) connectivity for free-space optical (FSO) and radio frequency (RF) wireless systems. This paper considers a…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Robot Operating System 2 (ROS 2) relies on the Data Distribution Service (DDS), which offers more than 20 Quality of Service (QoS) policies governing availability, reliability, and resource usage. Yet ROS 2 users lack clear guidance on safe…
It is highly predicted that the roads and parking areas will be extremely congested with vehicles to the point that searching for a novel solution will not be an optional choice for conserving the sustainability rate of the overall…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
The rise of intelligent autonomous systems, especially in robotics and autonomous agents, has created a critical need for robust communication middleware that can ensure real-time processing of extensive sensor data. Current robotics…
This paper proposes and demonstrates a PHY-layer design of a real-time prototype that supports Ultra-Reliable Communication (URC) in wireless infrastructure networks. The design makes use of Orthogonal Frequency Division Multiple Access…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…