Related papers: HyperGraph ROS: An Open-Source Robot Operating Sys…
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…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…
This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is…
This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them…
Graph algorithms and techniques are increasingly being used in scientific and commercial applications to express relations and explore large data sets. Although conventional or commodity computer architectures, like CPU or GPU, can compute…
ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software's…
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these issues, we present UniCon, a lightweight framework that…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
The Bulk Synchronous Parallel(BSP) computational model has emerged as the dominant distributed framework to build large-scale iterative graph processing systems. While its implementations(e.g., Pregel, Giraph, and Hama) achieve high…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
We study finite-sum nonlinear programs with localized variable coupling encoded by a (hyper)graph. We introduce a graph-compliant decomposition framework that brings message passing into continuous optimization in a rigorous, implementable,…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
The rise of intelligent autonomous systems, especially in robotics and autonomous agents, has created a critical need for robust communication middleware that can ensure real-time processing of extensive sensor data. Current robotics…
For a deep learning model, efficient execution of its computation graph is key to achieving high performance. Previous work has focused on improving the performance for individual nodes of the computation graph, while ignoring the…
The rapid evolution of Large Language Models (LLMs) towards long-context reasoning and sparse architectures has pushed memory requirements far beyond the capacity of individual device HBM. While emerging supernode architectures offer…
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
Hypergraph representations are both more efficient and better suited to describe data characterized by relations between two or more objects. In this work, we present a new graph neural network based on message passing capable of processing…