Related papers: ROSfs: A User-Level File System for ROS
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…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
We propose CFS, a distributed file system for large scale container platforms. CFS supports both sequential and random file accesses with optimized storage for both large files and small files, and adopts different replication protocols for…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
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…
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…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
Emerging high performance non-volatile memories recall the importance of efficient file system design. To avoid the virtual file system (VFS) and syscall overhead as in these kernel-based file systems, recent works deploy file systems…
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,…