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Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
Scheduling Bag-of-Tasks (BoT) applications on the cloud can be more challenging than grid and cluster environ- ments. This is because a user may have a budgetary constraint or a deadline for executing the BoT application in order to keep…
Autonomous navigation systems based on computer vision sensors often require sophisticated robotics platforms which are very expensive. This poses a barrier for the implementation and testing of complex localization, mapping, and navigation…
Fog computing becomes a promising technology to process user's requests near the proximity of users to reduce response time for latency-sensitive requests. Despite its advantages, the properties such as resource heterogeneity and…
This paper addresses the challenge of deadline-aware online scheduling for jobs in hybrid cloud environments, where jobs may run on either cost-effective but unreliable spot instances or more expensive on-demand instances, under hard…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
Internet of Things (IoT) aims to bring every object (e.g. smart cameras, wearable, environmental sensors, home appliances, and vehicles) online, hence generating massive amounts of data that can overwhelm storage systems and data analytics…
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
By acquiring cloud-like capacities at the edge of a network, edge computing is expected to significantly improve user experience. In this paper, we formulate a hybrid edge-cloud computing system where an edge device with limited local…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
Reducing latency in the Internet of Things (IoT) is a critical concern. While cloud computing facilitates communication, it falls short of meeting real-time requirements reliably. Edge and fog computing have emerged as viable solutions by…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
This paper considers a Markov decision model for profit maximization of a cloud computing service provider catering to customers submitting jobs with firm real-time random deadlines. Customers are charged on a per-job basis, receiving a…
Multi-cloud computing has become increasingly popular with enterprises looking to avoid vendor lock-in. While most cloud providers offer similar functionality, they may differ significantly in terms of performance and/or cost. A customer…
Cloud computing with its three key facets (i.e., IaaS, PaaS, and SaaS) and its inherent advantages (e.g., elasticity and scalability) still faces several challenges. The distance between the cloud and the end devices might be an issue for…
By bringing computing capacity from a remote cloud environment closer to the user, fog computing is introduced. As a result, users can access the services from more nearby computing environments, resulting in better quality of service and…
Active communication between robots and humans is essential for effective human-robot interaction. To accomplish this objective, Cloud Robotics (CR) was introduced to make robots enhance their capabilities. It enables robots to perform…
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, specifically table organization tasks. We provide a set of…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…