Related papers: fpgaDDS: An Intra-FPGA Data Distribution Service f…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
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…
FPGAs are commonly used to accelerate domain-specific algorithmic implementations, as they can achieve impressive performance boosts, are reprogrammable and exhibit minimal power consumption. In this work, the SqueezeNet DCNN is accelerated…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
Nowadays, the industrial Internet of Things (IIoT) has played an integral role in Industry 4.0 and produced massive amounts of data for industrial intelligence. These data locate on decentralized devices in modern factories. To protect the…
Data centers handle vast volumes of data that require efficient lossless compression, yet emerging probabilistic models based methods are often computationally slow. To address this, we introduce RAS, the Range Asymmetric Numeral System…
In the presence of dynamic insertions and deletions into a partially reconfigurable FPGA, fragmentation is unavoidable. This poses the challenge of developing efficient approaches to dynamic defragmentation and reallocation. One key aspect…
Advanced Driver-Assistance Systems (ADAS) is one of the primary drivers behind increasing levels of autonomy, driving comfort in this age of connected mobility. However, the performance of such systems is a function of execution rate which…
Distributed computing systems often consist of hundreds of nodes, executing tasks with different resource requirements. Efficient resource provisioning and task scheduling in such systems are non-trivial and require close monitoring and…
Machine-to-Machine (M2M) communication is an important type of communication in the Internet-of-Things (IoT). How to send data in these high-density communications using relay selection can help improve the performance of this type of…
Raw signal genome analysis (RSGA) has emerged as a promising approach to enable real-time genome analysis by directly analyzing raw electrical signals. However, rapid advancements in sequencing technologies make it increasingly difficult…
When designing modern embedded computing systems, most software programmers choose to use multicore processors, possibly in combination with general-purpose graphics processing units (GPGPUs) and/or hardware accelerators. They also often…
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based interactive computational environment affording scientific…
A graph embedding is an emerging approach that can represent a graph structure with a fixed-length low-dimensional vector. node2vec is a well-known algorithm to obtain such a graph embedding by sampling neighboring nodes on a given graph…
Device-to-device (D2D) communications offers high spectral efficiency, low energy consumption and transmission latency. However, one of the main limitations of D2D communications is co-channel interference from underlaying wireless system.…
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modification of the previous OpenPodcar…
Embedded systems are parts of our daily life and used in many fields. They can be found in smartphones or in modern cars including GPS, light/rain sensors and other electronic assistance mechanisms. These systems may handle sensitive data…
LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) serves as a basis for indoor cleaning, navigation, and many other useful applications in both industry and household. From a series of LiDAR scans, it…
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…