Related papers: Trace-enabled Timing Model Synthesis for ROS2-base…
It has gained broad attention to understand the timed distributed trace of a cyber-physical system at runtime, which is often achieved by verifying properties over the observed trace of system execution. However, this verification is facing…
Monitoring software systems at runtime is key for understanding workloads, debugging, and self-adaptation. It typically involves collecting and storing observable software data, which can be analyzed online or offline. Despite the…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
In the project, the vehicle was first controlled with ROS. For this purpose, the necessary nodes were prepared to be controlled with a joystick. Afterwards, DWA(Dynamic Window Approach), TEB(Timed-Elastic Band) and APF(Artificial Potential…
The multi-modal perception methods are thriving in the autonomous driving field due to their better usage of complementary data from different sensors. Such methods depend on calibration and synchronization between sensors to get accurate…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
Time series forecasting is an important challenge with significant applications in areas such as weather prediction, stock market analysis, scientific simulations and industrial process analysis. In this work, we introduce LMS-AutoTSF, a…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Autonomous vehicles require accurate and robust localization and mapping algorithms to navigate safely and reliably in urban environments. We present a novel sensor fusion-based pipeline for offline mapping and online localization based on…
As mobile robot capabilities improve and deployment times increase, tools to analyze the growing volume of data are becoming necessary. Current state-of-the-art logging, playback, and exploration systems are insufficient for practitioners…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
A comprehensive approach for real-time computations using a database of parameterized linear reduced-order models (ROMs) is proposed. The method proceeds by sampling offline ROMs for specific values of the parameters and interpolating…
Offline runtime verification involves the static analysis of executions of a system against a specification. For distributed systems, it is generally not possible to characterize executions in the form of global traces, given the absence of…
Orthogonal time frequency space (OTFS) modulation was proposed to tackle the destructive Doppler effects in wireless communications, with potential applications to many other areas. In this paper, we investigate its application to radar…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
This paper addresses robotic system engineering for safety- and mission-critical applications by bridging the gap between high-level objectives and formal, executable specifications. The proposed method, Robotic System Task to Model…
State-of-the-art approaches to design, develop and optimize software packet-processing programs are based on static compilation: the compiler's input is a description of the forwarding plane semantics and the output is a binary that can…
Synchronous programming is a paradigm of choice for the design of safety-critical reactive systems. Runtime enforcement is a technique to ensure that the output of a black-box system satisfies some desired properties. This paper deals with…
Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…
Understanding the run-time behavior of concurrent programs is a challenging task. A popular approach is to establish a happens- before relation via vector clocks. Thus, we can identify bugs and per- formance bottlenecks, for example, by…