Related papers: ROSMonitoring 2.0: Extending ROS Runtime Verificat…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system.…
The communication system is a critical part of the system design for the autonomous UAV. It has to address different considerations, including efficiency, reliability and mobility of the UAV. In addition, a multi-UAV system requires a…
Trusting software systems, particularly autonomous ones, is challenging. To address this, formal verification techniques can ensure these systems behave as expected. Runtime Verification (RV) is a leading, lightweight method for verifying…
Following up on our previous works, in this paper, we present Arena-Rosnav 2.0 an extension to our previous works Arena-Bench and Arena-Rosnav, which adds a variety of additional modules for developing and benchmarking robotic navigation…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10…
Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…
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…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
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…
Runtime monitoring is generally considered a light-weight alternative to formal verification. In safety-critical systems, however, the monitor itself is a critical component. For example, if the monitor is responsible for initiating…
Publish/subscribe (pub/sub) networks are a cornerstone of modern distributed systems, playing a crucial role in applications like the Internet of Things (IoT) and robotics. While runtime verification techniques seem ideal for ensuring the…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
Multicore timing interference, arising when multiple requests contend for the same shared hardware resources, is a primary concern for timing verification and validation of time-critical applications. Bandwidth control and regulation…
We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…