Related papers: PAAM: A Framework for Coordinated and Priority-Dri…
Robotic manipulation systems operating in diverse, dynamic environments must exhibit three critical abilities: multitask interaction, generalization to unseen scenarios, and spatial memory. While significant progress has been made in…
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers non-linearities and…
Our ISCA 2015 paper provides a new programmable processing-in-memory (PIM) architecture and system design that can accelerate key data-intensive applications, with a focus on graph processing workloads. Our major idea was to completely…
Simultaneous Localization and Mapping (SLAM) estimates agents' trajectories and constructs maps, and localization is a fundamental kernel in autonomous machines at all computing scales, from drones, AR, VR to self-driving cars. In this…
Multicore timing interference, arising when multiple requests contend for the same shared hardware resources, is a primary concern for timing verification and validation of time-critical applications. Bandwidth control and regulation…
In this paper, we consider the problem of scheduling an application on a parallel computational platform. The application is a particular task graph, either a linear chain of tasks, or a set of independent tasks. The platform is made of…
Advance reservation is important to guarantee the quality of services of jobs by allowing exclusive access to resources over a defined time interval on resources. It is a challenge for the scheduler to organize available resources…
Memory tiering systems seek cost-effective memory scaling by adding multiple tiers of memory. For maximum performance, frequently accessed (hot) data must be placed close to the host in faster tiers and infrequently accessed (cold) data can…
As the demand for mass customization increases, manufacturing systems must become more flexible and adaptable to produce personalized products efficiently. Additive manufacturing (AM) enhances production adaptability by enabling on-demand…
Sense-react systems (e.g. robotics and AR/VR) have to take highly responsive real-time actions, driven by complex decisions involving a pipeline of sensing, perception, planning, and reaction tasks. These tasks must be scheduled on…
Deterministic methods for motion planning guarantee safety amidst uncertainty in obstacle locations by trying to restrict the robot from operating in any possible location that an obstacle could be in. Unfortunately, this can result in…
Online event-based perception techniques on board robots navigating in complex, unstructured, and dynamic environments can suffer unpredictable changes in the incoming event rates and their processing times, which can cause computational…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
Efficient memory management in heterogeneous systems is increasingly challenging due to diverse compute architectures (e.g., CPU, GPU, FPGA) and dynamic task mappings not known at compile time. Existing approaches often require programmers…
Neural Network (NN) accelerators with emerging ReRAM (resistive random access memory) technologies have been investigated as one of the promising solutions to address the \textit{memory wall} challenge, due to the unique capability of…
Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) serves as a basis for indoor cleaning, navigation, and many other useful applications in both industry and household. From a series of LiDAR scans, it…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…