Related papers: A generic approach for reactive stateful mitigatio…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…
Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software packages for inverse kinematics often rely on numerical…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
In this short paper, we introduce the Ridgeline model, an extension of the Roofline model [4] for distributed systems. The Roofline model targets shared memory systems, bounding the performance of a kernel based on its operational…
In this paper, we consider the problem of dynamically tuning gains for multi-robot systems (MRS) under potential based control design framework where the MRS team coordinates to maintain a connected topology while equipped with limited…
We introduce a novel approach for scalable domain adaptation in cloud robotics scenarios where robots rely on third-party AI inference services powered by large pre-trained deep neural networks. Our method is based on a downstream…
Data availability is one of the most important features in distributed storage systems, made possible by data replication. Nowadays data are generated rapidly and the goal to develop efficient, scalable and reliable storage systems has…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
In cloud-scale systems, failures are the norm. A distributed computing cluster exhibits hundreds of machine failures and thousands of disk failures; software bugs and misconfigurations are reported to be more frequent. The demand for…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
This paper presents CODECO, a federated orchestration framework for Kubernetes that addresses the limitations of cloud-centric deployment. CODECO adopts a data-compute-network co-orchestration approach to support heterogeneous…
Modern cloud-native systems increasingly rely on multi-cluster deployments to support scalability, resilience, and geographic distribution. However, existing resource management approaches remain largely reactive and cluster-centric,…
Cloud robotics is a field of robotics that attempts to invoke Cloud technologies such as Cloud computing, Cloud storage, and other Internet technologies centered around the benefits of converged infrastructure and shared services for…
This paper addresses the challenges of rapid resource variation and highly uncertain task loads in cloud computing environments. It proposes an optimization method for elastic cloud resource scaling based on a multi-agent system. The method…
Microservice architecture is widely adopted among distributed systems. It follows the modular approach that decomposes large software applications into independent services. Kubernetes has become the standard tool for managing these…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…