Related papers: Trace-enabled Timing Model Synthesis for ROS2-base…

The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…

This paper introduces BAAS, a new Extended Object Tracking (EOT) and fusion-based label annotation framework for radar detections in autonomous driving. Our framework utilizes Bayesian-based tracking, smoothing and eventually fusion methods…

We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying…

Inaccuracies in conventional dependency-tracking methods frequently undermine the security and integrity of modern software supply chains. This paper introduces a kernel-level framework leveraging extended Berkeley Packet Filter (eBPF) to…

ROS 2 has become a dominant middleware for robotic systems, where perception, estimation, planning, and control pipelines are structured as directed acyclic graphs of callbacks executed under a shared executor. However, default ROS 2…

Localization and tracking (LocTrack) are fundamental enablers for a wide range of emerging applications. Reconfigurable intelligent surfaces (RISs) have emerged as key components for enhancing the LocTrack performance. This paper…

Distributed real-time and embedded (DRE) systems executing mixed criticality task sets are increasingly being deployed in mobile and embedded cloud computing platforms, including space applications. These DRE systems must not only operate…

This paper demonstrates the integration model-based design approaches or vehicle control, with validation in a freely available open-source simulator. Continued interest in autonomous vehicles and their deployment is driven by the potential…

The present paper develops recursive algorithms to track shifts in the resonance frequency of linear systems in real time. To date, automatic resonance tracking has been limited to non-model-based approaches, which rely solely on the phase…

There is a growing interest in adopting object technologies for the development of real-time control systems. Several commercial tools, currently available, provide object-oriented modeling and design support for real-time control systems.…

ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…

An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…

The ever-increasing use of artificial intelligence in autonomous systems has significantly contributed to advance the research on multi-object tracking, adopted in several real-time applications (e.g., autonomous driving, surveillance…

Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…

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…

Ensuring the resilience of computer-based railways is increasingly crucial to account for uncertainties and changes due to the growing complexity and criticality of those systems. Although their software relies on strict verification and…

Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…

Autonomous robots enjoy a wide popularity nowadays and have been applied in many applications, such as home security, entertainment, delivery, navigation and guidance. It is vital to robots to track objects accurately in these applications,…

The main focus of recent time synchronization research is developing power-efficient synchronization methods that meet pre-defined accuracy requirements. However, an aspect that has been often overlooked is the high dynamics of the network…

Our objective will be to integrate ML into Fermilab accelerator operations and furthermore provide an accessible framework which can also be used by a broad range of other accelerator systems with dynamic tuning needs. We will develop of…