Related papers: HyperGraph ROS: An Open-Source Robot Operating Sys…
Stream processing and reasoning is getting considerable attention in various application domains such as IoT, Industry IoT and Smart Cities. In parallel, reasoning and knowledge-based features have attracted research into many areas of…
In complex systems (e.g., communication, transportation, and biological networks), high robustness ensures sustained functionality and stability even when resisting attacks. However, the inherent structure complexity and the…
The paper presents structures and techniques aimed towards co-designing scalable asynchronous and decentralized dynamic graph processing for fine-grain memory-driven architectures. It uses asynchronous active messages, in the form of…
Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
In this paper, we introduce a task-data orchestration abstraction that supports a range of distributed applications, including graph processing and key-value stores. Given a batch of lambda tasks each requesting one or more data items,…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…
The paper provides a unified co-design of 1) a programming and execution model that allows spawning tasks from within the vertex data at runtime, 2) language constructs for \textit{actions} that send work to where the data resides,…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…
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,…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
Processing large graphs with memory-limited GPU needs to resolve issues of host-GPU data transfer, which is a key performance bottleneck. Existing GPU-accelerated graph processing frameworks reduce the data transfers by managing the active…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
Recent breakthroughs in large Language Models (LLMs) have enabled various generative tasks on a single model. Real-world services (e.g., OpenAI's ChatGPT [27]) powered by an LLM often concurrently support latency-critical requests for…
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…