Related papers: Trace-enabled Timing Model Synthesis for ROS2-base…
Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in which fragmented and monolithic designs…
Robot Operating System 2 (ROS 2) is now the de facto standard for robotic communication, pairing UDP transport with the Data Distribution Service (DDS) publish-subscribe middleware. DDS achieves reliability through periodic heartbeats that…
The problem of modeling and predicting spatiotemporal traffic phenomena over an urban road network is important to many traffic applications such as detecting and forecasting congestion hotspots. This paper presents a decentralized data…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
The problem of modeling and predicting spatiotemporal traffic phenomena over an urban road network is important to many traffic applications such as detecting and forecasting congestion hotspots. This paper presents a decentralized data…
The ubiquity of dynamic data in domains such as weather, healthcare, and energy underscores a growing need for effective interpretation and retrieval of time-series data. These data are inherently tied to domain-specific contexts, such as…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
Motivated by the challenge presented by non-Markovian objectives in reinforcement learning (RL), we present a novel framework to track and represent the progress of autonomous agents through complex, multi-stage tasks. Given a specification…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…
We have recently developed a general schedulability test framework, called k2U, which can be applied to deal with a large variety of task models that have been widely studied in real-time embedded systems. The k2U framework provides several…
Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
Maximizing parallelism level in applications can be achieved by minimizing overheads due to load imbalances and waiting time due to memory latencies. Compiler optimization is one of the most effective solutions to tackle this problem. The…
Autonomous and Robotics Systems (ARSs) are widespread, complex, and increasingly coming into contact with the public. Many of these systems are safety-critical, and it is vital to detect software errors to protect against harm. We propose a…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
Automated driving technologies promise substantial improvements in transportation safety, efficiency, and accessibility. However, ensuring the reliability and safety of Autonomous Vehicles in complex, real-world environments remains a…
The deterministic (timing) behavior of real-time systems (RTS) can be used by adversaries - say, to launch side channel attacks or even destabilize the system by denying access to critical resources. We propose a protocol (named REORDER) to…
Runtime verification is checking whether a system execution satisfies or violates a given correctness property. A procedure that automatically, and typically on the fly, verifies conformance of the system's behavior to the specified…
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…