Related papers: HyperGraph ROS: An Open-Source Robot Operating Sys…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
After Industry 4.0 has embraced tight integration between machinery (OT), software (IT), and the Internet, creating a web of sensors, data, and algorithms in service of efficient and reliable production, a new concept of Society 5.0 is…
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control…
In recent years, robots are required to be autonomous and their robotic software are sophisticated. Robots have a problem of insufficient performance, since it cannot equip with a high-performance microprocessor due to battery-power…
Meta-surfaces, also known as Reconfigurable Intelligent Surfaces (RIS), have emerged as a cost-effective, low power consumption, and flexible solution for enabling multiple applications in Internet of Things (IoT). However, in the context…
Large-scale distributed graph-parallel computing is challenging. On one hand, due to the irregular computation pattern and lack of locality, it is hard to express parallelism efficiently. On the other hand, due to the scale-free nature,…
Consider robot swarm wireless networks where mobile robots offload their computing tasks to a computing server located at the mobile edge. Our aim is to maximize the swarm lifetime through efficient exploitation of the correlation between…
Digitalization in nuclear power plant (NPP) control rooms is reshaping how operators interact with procedures and interface elements. However, existing computer-based procedures (CBPs) often lack semantic integration with human-system…
This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition,…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
R has become a cornerstone of scientific and statistical computing due to its extensive package ecosystem, expressive syntax, and strong support for reproducible analysis. However, as data sizes and computational demands grow, native R…
The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is indeed potential for more secure and trustable distributed…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
Neuromorphic Systems-on-Chip (NSoCs) are becoming heterogeneous by integrating general-purpose processors (GPPs) and neural processing units (NPUs) on the same SoC. For embedded systems, an NSoC may need to execute user applications built…
In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE),…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Not only with the large host memory for supporting large scale graph processing, GPU-accelerated heterogeneous architecture can also provide a great potential for high-performance computing. However, few existing heterogeneous systems can…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
The rise of graph analytic systems has created a need for ways to measure and compare the capabilities of these systems. Graph analytics present unique scalability difficulties. The machine learning, high performance computing, and visual…
We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…