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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…
As artificial intelligence systems evolve from passive assistants into autonomous agents capable of executing consequential actions, the security boundary shifts from model outputs to tool execution. Traditional security paradigms - log…
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…
Heterogeneous computing is becoming mainstream in all scopes. This new era in computer architecture brings a new paradigm called Accelerator Level Parallelism (ALP). In ALP, accelerators are used concurrently to provide unprecedented levels…
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…
The widespread adoption of Large Language Models (LLMs) has exponentially increased the demand for efficient serving systems. With growing requests and context lengths, key-value (KV)-related operations, including attention computation and…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
Ordered (key-value) maps are an important and widely-used data type for large-scale data processing frameworks. Beyond simple search, insertion and deletion, more advanced operations such as range extraction, filtering, and bulk updates…
Content addressable memory (CAM) stands out as an efficient hardware solution for memory-intensive search operations by supporting parallel computation in memory. However, developing a CAM-based accelerator architecture that achieves…
Gaussian Process (GP) models are widely used for Robotic Information Gathering (RIG) in exploring unknown environments due to their ability to model complex phenomena with non-parametric flexibility and accurately quantify prediction…
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 rise of intelligent autonomous systems, especially in robotics and autonomous agents, has created a critical need for robust communication middleware that can ensure real-time processing of extensive sensor data. Current robotics…
Sequential robot manipulation tasks require finding collision-free trajectories that satisfy geometric constraints across multiple object interactions in potentially high-dimensional configuration spaces. Solving these problems in real-time…
End-to-end imitation learning frameworks (e.g., VLA) are increasingly prominent in robotics, as they enable rapid task transfer by learning directly from perception to control, eliminating the need for complex hand-crafted features.…
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…
As multi-robot systems continue to advance and become integral to various applications, managing conflicts and ensuring secure access control are critical challenges that need to be addressed. Access control is essential in multi-robot…
Oblivious RAM (ORAM) hides the memory access patterns, enhancing data privacy by preventing attackers from discovering sensitive information based on the sequence of memory accesses. The performance of ORAM is often limited by its inherent…
Advanced Driver-Assistance Systems (ADAS) is one of the primary drivers behind increasing levels of autonomy, driving comfort in this age of connected mobility. However, the performance of such systems is a function of execution rate which…
This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…