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This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier functions for mobility systems within both deterministic and…
The domain of cyber-physical systems (CPS) has recently seen strong growth, e.g., due to the rise of the Internet of Things (IoT) in industrial domains, commonly referred to as "Industry 4.0". However, CPS challenges like the strong…
As technology advances, cities are evolving into smart cities, with the ability to process large amounts of data and the increasing complexity and diversification of various elements within urban areas. Among the core systems of a smart…
This paper explores the paradigm of Collaborative Perception (CP), where multiple robots and sensors in the environment share and integrate sensor data to construct a comprehensive representation of the surroundings. By aggregating data…
A considerable volume of data is collected from sensors today and needs to be processed in real time. Complex Event Processing (CEP) is one of the most important techniques developed for this purpose. In CEP, each new sensor measurement is…
Intelligent Transport Systems (ITS) and Cooperative Intelligent Transport Systems (C-ITS) are of high significance, mainly due to the benefits they have in terms of operation of the transport network. Despite ITS and C-ITS importance in the…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Thanks to rapid technological advances in the Internet of Things (IoT), a smart public safety (SPS) system has become feasible by integrating heterogeneous computing devices to collaboratively provide public protection services. While a…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
Embedded cyber-physical systems (CPS) are commonly built upon heterogeneous digital and analog integrated circuits, including sensors and actuators. Less common is their deployment on parallel, NoC based designs based on general purpose…
Microservices architecture is one of the new architectural styles that has improved in recent years. It has become a popular architectural style among system architects and developers. This popularity increased with the advent of new…
The placement of Kubernetes control-plane nodes is critical to ensuring cluster reliability, scalability, and performance, and therefore represents a significant deployment challenge in heterogeneous, multi-region environments. Existing…
Many scientific workflows require dedicated compute resources, including HPC clusters with optimized software, quantum resources, and dedicated hardware cluster systems like Ray, for example. At the same time, many scientific workflows…
Robotic platforms are highly programmable, scalable and versatile to complete several tasks including Inspection, Maintenance and Repair (IMR). Mobile robotics offer reduced restrictions in operating environments, resulting in greater…
We introduce Kleinkram, a free and open-source system designed to solve the challenge of managing massive, unstructured robotic datasets. Designed as a modular, on-premises cloud solution, Kleinkram enables scalable storage, indexing, and…
The rapid deployment of robotics technologies requires dedicated optimization algorithms to manage large fleets of autonomous agents. This paper supports robotic parts-to-picker operations in warehousing by optimizing order-workstation…
One of the main challenges in integrating Cyber-Physical System-of-Systems (CPSoS) to function as a single unified system is the autonomy of its Cyber-Physical Systems (CPSs), which may lead to a lack of coordination among CPSs and results…
Microservice architecture is widely adopted among distributed systems. It follows the modular approach that decomposes large software applications into independent services. Kubernetes has become the standard tool for managing these…
In the contemporary logistics industry, automation plays a pivotal role in enhancing production efficiency and expanding industrial scale. Autonomous mobile robots, in particular, have become integral to the modernization efforts in…
Resource management is the principal factor to fully utilize the potential of Edge/Fog computing to execute real-time and critical IoT applications. Although some resource management frameworks exist, the majority are not designed based on…