Related papers: Trace-enabled Timing Model Synthesis for ROS2-base…
The use of object oriented techniques and methodologies for the design of real-time control systems appear to be necessary in order to deal with the increasing complexity of such systems. Recently many object-oriented methods have been used…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Data fusion algorithms that employ LiDAR measurements, such as Visual-LiDAR, LiDAR-Inertial, or Multiple LiDAR Odometry and simultaneous localization and mapping (SLAM) rely on precise timestamping schemes that grant synchronicity to data…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS2 integration for the Robotino available. In this paper, we describe our work…
In this paper, we present a general response-time analysis and schedulability-test framework, called k2Q (k to Q). It provides automatic constructions of closed-form quadratic bounds or utilization bounds for a wide range of applications in…
Autonomous vehicles (AVs) rely on complex perception and communication systems, making them vulnerable to adversarial attacks that can compromise safety. While simulation offers a scalable and safe environment for robustness testing,…
The fact that robots are getting deployed more often in dynamic environments, together with the increasing complexity of their software systems, raises the need for self-adaptive approaches. In these environments robotic software systems…
Designing robotic systems to act autonomously in unforeseen environments is a challenging task. This work presents a novel approach to use formal verification, specifically Statistical Model Checking (SMC), to verify system properties of…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2…
We present a static analysis technique for detecting data races in Real-Time Operating System (RTOS) applications. These applications are often employed in safety-critical tasks and the presence of races may lead to erroneous behaviour with…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
Enterprise software systems make complex interactions with other services in their environment. Developing and testing for production-like conditions is therefore a challenging task. Prior approaches include emulations of the dependency…
Self-adaptive systems (SASs) are capable of adjusting its behavior in response to meaningful changes in the operational con-text and itself. The adaptation needs to be performed automatically through self-managed reactions and…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…