Related papers: Mapping and Optimizing Communication in ROS 2-base…
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 a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
This paper presents a novel approach for the joint design of a reconfigurable intelligent surface (RIS) and a transmitter-receiver pair that are trained together as a set of deep neural networks (DNNs) to optimize the end-to-end…
The increasing parallelism of many-core systems demands for efficient strategies for the run-time system management. Due to the large number of cores the management overhead has a rising impact to the overall system performance. This work…
Reconfigurable intelligent surfaces (RISs) have become a promising candidate for the development of future mobile systems. In the context of massive machine-type communications (mMTC), a RIS can be used to support the transmission from a…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
With the evolution of the 5G, 6G and beyond, device-to-device (D2D) communication has been developed as an energy-, and spectrum-efficient solution. In cellular network, D2D links need to share the same spectrum resources with the cellular…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
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…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
We present several enhancements to the open-source ESP platform to support flexible and efficient on-chip communication for programmable accelerators in heterogeneous SoCs. These enhancements include 1) a flexible point-to-point…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
This paper investigates the performance of vehicleto-vehicle (V2V) communications assisted by a reconfigurable intelligent surface (RIS) and a simultaneous transmitting and reflecting intelligent omni-surface (STAR-IOS) under nonorthogonal…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Multi-robot systems (MRS) rely on exchanging raw sensory data to cooperate in complex three-dimensional (3D) environments. However, this strategy often leads to severe communication congestion and high transmission latency, significantly…
ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software's…
This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS)…
This paper addresses the crucial need for reliable wireless communication in vehicular networks, particularly vital for the safety and efficacy of (semi-)autonomous driving amid increasing traffic. We explore the use of Reconfigurable…