Related papers: RobotKube: Orchestrating Large-Scale Cooperative M…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
Open-source software for cyber-physical systems (CPS) often lacks robust testing involving robotic platforms, resulting in critical errors that remain undetected. This is especially challenging when multiple modules of CPS software are…
Indoor robotic systems within Cyber-Physical Systems (CPS) are increasingly exposed to Denial of Service (DoS) attacks that compromise localization, control and telemetry integrity. We propose a privacy-aware malware detection framework for…
A Multi Robot System (MRS) is the infrastructure of an intelligent cyberphysical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling an MRS is a crucial aspect of designing…
Cloud computing has made federated database systems (FDBS) significantly more practical to implement than in the past. As part of a recent Web-based Geographic Information System (WebGIS) project, we are employing cloud-native technologies…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Kubernetes is a container orchestration system that employs a declarative configuration management approach. In Kubernetes, each desired and actual state is represented by an ``object'', and multiple controllers autonomously monitor related…
In modern distributed cloud environments, efficient resource allocation is required as traditional scaling mechanisms are often subject to cloud thrashing due to network-induced latencies. In this paper, we propose C-SAS (Complex-Stability…
When using multiple software tools to analyze, visualize, or optimize models in MBSE, it is often tedious and error-prone to manually coordinate the execution of these tools and to retain their respective input and output data for later…
Today's customers are characterized by individual requirements that lead the manufacturing industry to increased product variety and volume reduction. Manufacturing systems and more specifically assembly systems (ASs) should allow quick…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
The move towards the microservice based architecture is well underway. In this architectural style, small and loosely coupled modules are developed, deployed, and scaled independently to compose cloud-native applications. However, for…
Control systems are indispensable for ensuring the safety of cyber-physical systems (CPS), spanning various domains such as automobiles, airplanes, and missiles. Safeguarding CPS necessitates runtime methodologies that continuously monitor…
In an effort to penetrate the market at an affordable cost, consumer robots tend to provide limited processing capabilities, just enough to serve the purpose they have been designed for. However, a robot, in principle, should be able to…
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration…
Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing,…