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In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Distributed energy resources offer a control-based option to improve distribution system reliability by ensuring system states that positively impact component failure rates. This option is an attractive complement to otherwise costly and…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…
Accurate local state measurement is important to ensure the reliable operation of distributed multi-agent systems (MAS). Existing fault-tolerant control strategies generally assume the sensor faults to be bounded and uncorrelated. In this…
In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture…
Global localization is essential in enabling robot autonomy, and collaborative localization is key for multi-robot systems. In this paper, we address the task of collaborative global localization under computational and communication…
This paper outlines a roadmap to effectively leverage shared mental models in multi-robot, multi-stakeholder scenarios, drawing on experiences from the BugWright2 project. The discussion centers on an autonomous multi-robot systems designed…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Smart-city services are typically developed as closed systems within each city's vertical, communicating and interacting with cloud services while remaining isolated within each provider's domain. With the emergence of 5G private domains…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
Advances in robot learning have enabled robots to generate skills for a variety of tasks. Yet, robot learning is typically sample inefficient, struggles to learn from data sources exhibiting varied behaviors, and does not naturally…
Advancements in generative models have enabled multi-agent systems (MAS) to perform complex virtual tasks such as writing and code generation, which do not generalize well to physical multi-agent robotic teams. Current frameworks often…
This paper addresses the challenges of high resource dynamism and scheduling complexity in cloud-native database systems. It proposes an adaptive resource orchestration method based on multi-agent reinforcement learning. The method…
Modern robotic systems integrate multiple independent software and hardware components, each responsible for distinct functionalities such as perception, decision-making, and execution. These components interact extensively to accomplish…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Misconfiguration, excessive privilege, and fragmented controls remain major causes of cloud-infrastructure incidents. This paper proposes an open-source framework that contributes a cross-platform identity-resource graph for Kubernetes and…
Managing cloud services is a fundamental challenge in todays virtualized environments. These challenges equally face both providers and consumers of cloud services. The issue becomes even more challenging in virtualized environments that…