Related papers: A generic approach for reactive stateful mitigatio…
The growth of compute-intensive AI tasks highlights the need to mitigate the processing costs and improve performance and energy efficiency. This necessitates the integration of intelligent agents as architectural adaptation supervisors…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
The transformation to smart factories and the automation of mobile robotics is partly driven by a growing availability of ubiquitous cloud technologies. In cyber-physical systems, such as control systems, critical parts can be migrated to a…
Cloud resilience is crucial for cloud operators and the myriad of applications that rely on the cloud. Today, we lack a mechanism that enables cloud operators to perform graceful degradation of applications while satisfying the…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Many robotic tasks require heavy computation, which can easily exceed the robot's onboard computer capability. A promising solution to address this challenge is outsourcing the computation to the cloud. However, exploiting the potential of…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and intercede when necessary, manually or autonomously. Prior work in…
Cyber-physical production systems increasingly involve collaborative robotic missions, requiring more demand for robust and safe missions. Industries rely on risk assessments to identify potential failures and implement measures to mitigate…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
Cloud robotics enables robots to offload complex computational tasks to cloud servers for performance and ease of management. However, cloud compute can be costly, cloud services can suffer occasional downtime, and connectivity between the…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
In a cloud-native era, the Kubernetes-based workflow engine enables workflow containerized execution through the inherent abilities of Kubernetes. However, when encountering continuous workflow requests and unexpected resource request…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…
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…
In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
The placement of Kubernetes control-plane nodes is critical to ensuring cluster reliability, scalability, and performance, and therefore represents a significant deployment challenge in heterogeneous, multi-region environments. Existing…