Related papers: A generic approach for reactive stateful mitigatio…
Cloud native technologies have been observed to expand into the realm of Internet of Things (IoT) and Cyber-physical Systems, of which an important application domain is robotics. In this paper, we review the cloudification practice in the…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
In dynamic operational environments, particularly in collaborative robotics, the inevitability of failures necessitates robust and adaptable recovery strategies. Traditional automated recovery strategies, while effective for predefined…
In this paper we discuss our experience in teaching the Robotic Applications Programming course at ZHAW combining the use of a Kubernetes (k8s) cluster and real, heterogeneous, robotic hardware. We discuss the main advantages of our…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…
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…
This paper proposes a novel approach to address the challenges of deploying complex robotic software in large-scale systems, i.e., Centralized Nonlinear Model Predictive Controllers (CNMPCs) for multi-agent systems. The proposed approach is…
Kubernetes has emerged as a leading open-source platform for container orchestration, allowing organizations to efficiently manage and deploy containerized applications at scale. This paper investigates the performance of four Kubernetes…
Vehicles are becoming increasingly automated and interconnected, enabling the formation of cooperative intelligent transport systems (C-ITS) and the use of offboard services. As a result, cloud-native techniques, such as microservices and…
A key challenge for supporting elastic behaviour in cloud systems is to achieve a good performance in automated (de-)provisioning and scheduling of computing resources. One of the key aspects that can be significant is the overheads…
Kubernetes is a free, open-source container orchestration system for deploying and managing Docker containers that host microservices. Kubernetes cluster logs help in determining the reason for the failure. However, as systems become more…
Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and enhancing robot coordination. However, integrating cloud…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…
This work presents an approach for robots to suitably carry out complex applications characterized by the presence of multiple additional constraints or subtasks (e.g. obstacle and self-collision avoidance) but subject to redundancy…
Kubernetes, an open-source platform for automating the deployment, scaling, and management of containerized applications, is widely used for its efficiency and scalability. However, its complexity and extensive configuration options often…
Containerized microservices are widely adopted for latency-sensitive and compute-intensive applications, with Kubernetes (K8s) as the dominant orchestration platform. However, automating the deployment and management of multi-service…
Kubernetes has emerged as an essential platform for deploying containerised applications across cloud and edge infrastructures. As Kubernetes gains increasing adoption for mission-critical microservices, evaluating system resilience under…
Many large enterprises that operate highly governed and complex ICT environments have no efficient and effective way to support their Data and AI teams in rapidly spinning up and tearing down self-service data and compute infrastructure, to…
We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…