Related papers: Trace-enabled Timing Model Synthesis for ROS2-base…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
Autoware is an autonomous driving system implemented on Robot Operation System (ROS) 2, where an end-to-end timing guarantee is crucial to ensure safety. However, existing ROS 2 cause-effect chain models for analyzing end-to-end latency…
We used ROS2 as a platform to conduct AI research for developing a Follow-Me capability as a proof-of-concept on a wheeled robot, demonstrating that AI research is possible in the ROS2 framework. We developed a complete system that uses…
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…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
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…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
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,…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…