Related papers: A generic approach for reactive stateful mitigatio…
In this paper, we i) analyze and classify real-world failures of Kubernetes (the most popular container orchestration system), ii) develop a framework to perform a fault/error injection campaign targeting the data store preserving the…
In cloud-native systems, Kubernetes clusters with interdependent services often face challenges to their operational resilience due to poor workload management issues such as resource blocking, bottlenecks, or continuous pod crashes. These…
Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…
We present the architecture of a cloud native version of IBM Streams, with Kubernetes as our target platform. Streams is a general purpose streaming system with its own platform for managing applications and the compute clusters that…
In recent years, cloud and edge architectures have gained tremendous focus for offloading computationally heavy applications. From machine learning and Internet of Thing (IOT) to industrial procedures and robotics, cloud computing have been…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…
This paper presents a novel fleet management strategy for battery-powered robot fleets tasked with intra-factory logistics in an autonomous manufacturing facility. In this environment, repetitive material handling operations are subject to…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Robots have inherently limited onboard processing, storage, and power capabilities. Cloud computing resources have the potential to provide significant advantages for robots in many applications. However, to make use of these resources,…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical…
Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human intervention, making them less adaptable. This…
Kubernetes (k8s) has the potential to merge the distributed edge and the cloud but lacks a scheduling framework specifically for edge-cloud systems. Besides, the hierarchical distribution of heterogeneous resources and the complex…
Kubernetes (k8s) has the potential to coordinate distributed edge resources and centralized cloud resources, but currently lacks a specialized scheduling framework for edge-cloud networks. Besides, the hierarchical distribution of…
Today's robotic systems are increasingly turning to computationally expensive models such as deep neural networks (DNNs) for tasks like localization, perception, planning, and object detection. However, resource-constrained robots, like…
Coordinating robotic swarms in dynamic and communication-constrained environments remains a fundamental challenge for collective intelligence. This paper presents a novel framework for event-triggered organization, designed to achieve…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
Intelligent roadside infrastructure is a key enabler for cooperative intelligent transport systems (C-ITS), supporting vehicles equipped with automated driving systems (ADS), e.g., through enhanced environment perception. With a growing…
Businesses have made increasing adoption and incorporation of cloud technology into internal processes in the last decade. The cloud-based deployment provides on-demand availability without active management. More recently, the concept of…