Related papers: HyperGraph ROS: An Open-Source Robot Operating Sys…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
There has been significant recent interest in parallel graph processing due to the need to quickly analyze the large graphs available today. Many graph codes have been designed for distributed memory or external memory. However, today even…
Multi-hop reasoning (MHR) is a process in artificial intelligence and natural language processing where a system needs to make multiple inferential steps to arrive at a conclusion or answer. In the context of knowledge graphs or databases,…
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity,…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domain decomposition. ROBO offers a middle ground between…
The rapid advancements in machine learning techniques have led to significant achievements in various real-world robotic tasks. These tasks heavily rely on fast and energy-efficient inference of deep neural network (DNN) models when…
Subgraph counting aims to count the occurrences of a subgraph template T in a given network G. The basic problem of computing structural properties such as counting triangles and other subgraphs has found applications in diverse domains.…
Multi-robot systems (MRS) rely on exchanging raw sensory data to cooperate in complex three-dimensional (3D) environments. However, this strategy often leads to severe communication congestion and high transmission latency, significantly…
The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
This paper presents ColonyOS, an open-source meta-operating system designed to improve integration and utilization of diverse computing platforms, including IoT, edge, cloud, and HPC. Operating as an overlay, ColonyOS can interface with a…
Efficiently delivering items to an ongoing surgery in a hospital operating room can be a matter of life or death. In modern hospital settings, delivery robots have successfully transported bulk items between rooms and floors. However,…
The HPEC Graph Challenge is a collection of benchmarks representing complex workloads that test the hardware and software components of HPC systems, which traditional benchmarks, such as LINPACK, do not. The first benchmark, Subgraph…
ROS 2 has become a dominant middleware for robotic systems, where perception, estimation, planning, and control pipelines are structured as directed acyclic graphs of callbacks executed under a shared executor. However, default ROS 2…
A novel language system has given rise to promising alternatives to standard formal and processor network models of computation. An interstring linked with a abstract machine environment, shares sub-expressions, transfers data, and…
The industry and academia have proposed many distributed graph processing systems. However, the existing systems are not friendly enough for users like data analysts and algorithm engineers. On the one hand, the programing models and…
With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…
We propose, implement, and experimentally evaluate a runtime middleware to support high-throughput execution on hybrid cluster machines of large-scale analysis applications. A hybrid cluster machine consists of computation nodes which have…
The increasing scale and wealth of inter-connected data, such as those accrued by social network applications, demand the design of new techniques and platforms to efficiently derive actionable knowledge from large-scale graphs. However,…