Related papers: PAAM: A Framework for Coordinated and Priority-Dri…
State ambiguity is common in robotic manipulation. Identical observations may correspond to multiple valid behavior trajectories. The visuomotor policy must correctly extract the appropriate types and levels of information from the history…
In this paper, we propose a preamble (PA) collision resolution (PACR) scheme based on multiple timing advance (TA) values captured via tagged PAs. In the proposed PACR scheme, tags are embedded in random access (RA) PAs and multiple TA…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
Robotic process automation (RPA) is a technology for centralized automation of business processes. RPA automates user interaction with graphical user interfaces, whereby it promises efficiency gains and a reduction of human negligence…
Spatially partitioned heterogeneous accelerators (HAs) are increasingly adopted in embedded systems for their performance and flexibility. Yet most existing HA design frameworks optimize primarily for throughput or quality-of-service (QoS)…
Increasing investment in computing technologies and the advancements in silicon technology has fueled rapid growth in advanced driver assistance systems (ADAS) and corresponding SoC developments. An ADAS SoC represents a heterogeneous…
The field of autonomous vehicle research is advancing rapidly, necessitating platforms that meet real-time performance, safety, and security requirements for practical deployment. AUTOSAR Adaptive Platform (AUTOSAR AP) is widely adopted in…
Multi-accelerator servers are increasingly being deployed in shared multi-tenant environments (such as in cloud data centers) in order to meet the demands of large-scale compute-intensive workloads. In addition, these accelerators are…
Processing Using Memory (PUM) accelerators have the potential to perform Deep Neural Network (DNN) inference by using arrays of memory cells as computation engines. Among various memory technologies, ReRAM crossbars show promising…
Remote memory access (RMA) is an emerging high-performance programming model that uses RDMA hardware directly. Yet, accessing remote memories cannot invoke activities at the target which complicates implementation and limits performance of…
Autoware is an autonomous driving system implemented on Robot Operation System (ROS) 2, where an end-to-end timing guarantee is crucial to ensure safety. However, existing ROS 2 cause-effect chain models for analyzing end-to-end latency…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Resource allocation (RA) is a significant aspect in Cloud Computing which facilitates the Cloud resources to Cloud consumers as a metered service. The Cloud resource manager is responsible to assign available resources to the tasks for…
Deep learning (DL) models are piquing high interest and scaling at an unprecedented rate. To this end, a handful of tiled accelerators have been proposed to support such large-scale training tasks. However, these accelerators often…
Real-time scheduling in commoditized component-oriented real-time systems, such as ROS 2 systems on Linux, has been studied under nested scheduling: OS thread scheduling and middleware layer scheduling (e.g., ROS 2 Executor). However, by…
In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance…
Robotic Process Automation (RPA) is a fast-emerging automation technology that sits between the fields of Business Process Management (BPM) and Artificial Intelligence (AI), and allows organizations to automate high volume routines. RPA…