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Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
TensorFlow is a machine learning system that operates at large scale and in heterogeneous environments. TensorFlow uses dataflow graphs to represent computation, shared state, and the operations that mutate that state. It maps the nodes of…
Large-scale graph processing has drawn great attention in recent years. Most of the modern-day datacenter workloads can be represented in the form of Graph Processing such as MapReduce etc. Consequently, a lot of designs for Domain-Specific…
Multigrid algorithms are among the fastest iterative methods known today for solving large linear and some non-linear systems of equations. Greatly optimized for serial operation, they still have a great potential for parallelism not fully…
Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. While existing approaches like topological maps offer…
As knowledge graph has the potential to bridge the gap between commonsense knowledge and reasoning over actionable capabilities of mobile robotic platforms, incorporating knowledge graph into robotic system attracted increasing attention in…
Research on sixth-generation (6G) integrated sensing and communication (ISAC) increasingly depends on multimodal datasets. These datasets need to jointly characterize wireless propagation, onboard sensing, and platform mobility. Existing…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Autonomous robots require change-robust spatial-semantic reasoning: using spatial and semantic knowledge to decide where to go, how to get there, and where the robot is despite environmental change. Existing approaches typically attach…
With the magnitude of graph-structured data continually increasing, graph processing systems that can scale-out and scale-up are needed to handle extreme-scale datasets. While existing distributed out-of-core solutions have made it…
Many well-known, real-world problems involve dynamic data which describe the relationship among the entities. Hypergraphs are powerful combinatorial structures that are frequently used to model such data. For many of today's data-centric…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
Inter-process communication (IPC) is one of the core functions of modern robotics middleware. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a core component of TZC, we design a novel algorithm called partial…
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based interactive computational environment affording scientific…
Secure communication is a critical requirement for Internet of Things (IoT) devices, which are often based on Microcontroller Units (MCUs). Current cryptographic solutions, which rely on software libraries or dedicated hardware…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
The dawn of embodied intelligence has ushered in an unprecedented imperative for resilient, cognition-enabled multi-agent collaboration across next-generation ecosystems, revolutionizing paradigms in autonomous manufacturing, adaptive…
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…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…