Related papers: Mapping and Optimizing Communication in ROS 2-base…
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.…
Reconfigurable intelligent surface (RIS)-aided vehicle-to-everything (V2X) communication has emerged as a crucial solution for providing reliable data services to vehicles on the road. However, in delay-sensitive or high-mobility…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
In recent years there has been a growing interest in reconfigurable intelligent surfaces (RISs) as enablers for the realization of smart radio propagation environments which can provide performance improvements with low energy consumption…
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…
Sensing-assisted communication schemes have recently garnered significant research attention. In this work, we design a dual-function reconfigurable intelligent surface (RIS), integrating both active and passive elements, referred to as the…
Direct-to-satellite (DtS) communication has gained importance recently to support globally connected Internet of things (IoT) networks. However, relatively long distances of densely deployed satellite networks around the Earth cause a high…
The automotive industry is currently undergoing a major transformation with respect to the Electric/Electronic (E/E) and software architecture, driven by a significant increase in the complexity of the technological stack within a vehicle.…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
The synergy of metasurface-based holographic surfaces (HoloS) and reconfigurable intelligent surfaces (RIS) is considered a key aspect for future communication networks. However, the optimization of dynamic metasurfaces requires the use of…
An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
In this paper, we explore the integration of two revolutionary technologies, reconfigurable intelligent surfaces (RISs) and orthogonal time frequency space (OTFS) modulation, to enhance high-speed wireless communications. We introduce a…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Hardware acceleration of algorithms is an effective method for improving performance in high-demand computational tasks. However, developing hardware designs for such acceleration fundamentally differs from software development, as it…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
The ROS 2 Navigation Stack (Nav2) has emerged as a widely used software component providing the underlying basis to develop a variety of high-level functionalities. However, when used in outdoor environments such as orchards and vineyards,…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…