Related papers: A first look at ROS 2 applications written in asyn…

We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…

Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…

Nowadays, the use of embedded operating systems in different embedded projects is subject to a tremendous growth. Embedded Linux is becoming one of those most popular EOSs due to its modularity, efficiency, reliability, and cost. One way to…

In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…

With its growing use in industry, ROS is rapidly becoming a standard in robotics. While developments in ROS 2 show promise, the slow adoption cycles in industry will push widespread ROS 2 industrial adoption years from now. ROS will prevail…

Robot Operating System 2 (ROS 2) relies on the Data Distribution Service (DDS), which offers more than 20 Quality of Service (QoS) policies governing availability, reliability, and resource usage. Yet ROS 2 users lack clear guidance on safe…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

Parallel programming often requires developers to handle complex computational tasks that can yield many errors in its development cycle. Rust is a performant low-level language that promises memory safety guarantees with its compiler,…

Real-time end-to-end task scheduling in networked control systems (NCSs) requires the joint consideration of both network and computing resources to guarantee the desired quality of service (QoS). This paper introduces a new model for…

As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased.To aid researchers in the…

There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…

With the rapid development of safety-critical applications such as autonomous driving and embodied intelligence, the functional safety of the corresponding electronic chips becomes more critical. Ensuring chip functional safety requires…

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…

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…

Robot apps are becoming more automated, complex and diverse. An app usually consists of many functions, interacting with each other and the environment. This allows robots to conduct various tasks. However, it also opens a new door for…

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…

We present RTAMT, an online monitoring library for Signal Temporal Logic (STL) and its interface-aware variant (IA-STL), providing both discrete- and dense-time interpretation of the logic. We also introduce RTAMT4ROS, a tool that…

The development of safety-critical aerospace systems is traditionally dominated by the C language. Its language characteristics make it trivial to accidentally introduce memory safety issues resulting in undefined behavior or security…

For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such…

We consider the problem of learning motion policies for acceleration-based robotics systems with a structured policy class specified by RMPflow. RMPflow is a multi-task control framework that has been successfully applied in many robotics…