Related papers: ROSfs: A User-Level File System for ROS
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…
The global increase in the elderly population necessitates innovative long-term care solutions to improve the quality of life for vulnerable individuals while reducing caregiver burdens. Assistive robots, leveraging advancements in Machine…
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
Data availability is one of the most important features in distributed storage systems, made possible by data replication. Nowadays data are generated rapidly and the goal to develop efficient, scalable and reliable storage systems has…
Traditional executable delivery models pose challenges for IoT devices with limited storage, necessitating the download of complete executables and dependencies. Network solutions like NFS, designed for data files, encounter high IO…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing…
Modern LLM reinforcement learning (RL) workloads require a highly efficient weight transfer system to scale training across heterogeneous computational resources. However, existing weight transfer approaches either fail to provide…
We develop a system for real-time public transportation data, deciding to use the data standard GTFS-RT (GTFS Realtime), an open data format for public transit data. We give an overview of the design of a physical GPS sensor device, its…
A new set of software applications and libraries for use in the archival and analysis of pulsar astronomical data is introduced. Known collectively as the PSRCHIVE scheme, the code was developed in parallel with a new data storage format…
Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…
Robowflex is a software library for robot motion planning in industrial and research applications, leveraging the popular MoveIt library and Robot Operating System (ROS) middleware. Robowflex provides an augmented API for crafting and…
The increasing complexity and interconnectivity of digital infrastructures make scalable and reliable security assessment methods essential. Robotic systems represent a particularly important class of operational technology, as modern…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…