Related papers: Understanding Misconfigurations in ROS: An Empiric…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
Many techniques were proposed for detecting software misconfigurations in cloud systems and for diagnosing unintended behavior caused by such misconfigurations. Detection and diagnosis are steps in the right direction: misconfigurations…
Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
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…
Context: Modern Systems of Systems (SoSs) increasingly operate in dynamic environments (e.g., smart cities, autonomous vehicles) where runtime composition -- the on-the-fly discovery, integration, and coordination of constituent systems…
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
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,…
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…
As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource for systems that do not contain high computing power…
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…
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
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…
In this chapter we discuss the problem of master failure in ROS1.0 and its impact on robotic deployments in the real world. We address this issue in this tutorial chapter where we outline, design and demonstrate a fault tolerant mechanism…
It is imperative to develop an intrusion prevention system (IPS), specifically designed for autonomous robotic systems. This is due to the unique nature of these cyber-physical systems (CPS), which are not merely typical distributed…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all 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…
Robot apps are becoming more automated, complex and diverse. An app usually consists of many functions, interacting with each other and the environment. This allows robots to conduct various tasks. However, it also opens a new door for…