Related papers: A first look at ROS 2 applications written in asyn…
Modular autonomous driving systems must coordinate global progress objectives with local safety-driven reactions under imperfect sensing and strict real-time constraints. This paper presents a ROS2-native arbitration module that…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
This work presents an extension to the MoveIt2 planning library supporting asynchronous execution for multi-robot / multi-arm robotic setups. The proposed method introduces a unified way for the execution of both synchronous and…
An oft-ignored challenge of real-world reinforcement learning is that the real world does not pause when agents make learning updates. As standard simulated environments do not address this real-time aspect of learning, most available…
Context: Modern Systems of Systems (SoSs) increasingly operate in dynamic environments (e.g., smart cities, autonomous vehicles) where runtime composition -- the on-the-fly discovery, integration, and coordination of constituent systems…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
Dancing Links connotes an optimization to a circular doubly-linked list data structure implementation which provides for fast list element removal and restoration. The Dancing Links optimization is used primarily in fast algorithms to find…
The idea of iterative process optimization based on collected output measurements, or "real-time optimization" (RTO), has gained much prominence in recent decades, with many RTO algorithms being proposed, researched, and developed. While…
In this paper, we present a general response-time analysis and schedulability-test framework, called k2Q (k to Q). It provides automatic constructions of closed-form quadratic bounds or utilization bounds for a wide range of applications in…
Translating C to Rust is a promising way to enhance the reliability of legacy system programs. Although the industry has developed an automatic C-to-Rust translator, C2Rust, its translation remains unsatisfactory. One major reason is that…
Although a lot of research has taken place in Object Oriented Design of software for Real Time systems and mapping of design models to implementation models, these methodologies are applicable to systems which are less complex and small in…
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…
Real-time execution is essential for cyber-physical systems such as robots. These systems operate in dynamic real-world environments where even small delays can undermine responsiveness and compromise performance. Asynchronous inference has…
This paper addresses robotic system engineering for safety- and mission-critical applications by bridging the gap between high-level objectives and formal, executable specifications. The proposed method, Robotic System Task to Model…
Runtime verification (RV) is a pragmatic and scalable, yet rigorous technique, to assess the correctness of complex systems, including cyber-physical systems (CPS). By measuring how robustly a CPS run satisfies a specification, RV allows in…
The main objective of this paper is to develop the two different ways in which round robin architecture is modified and made suitable to be implemented in real time and embedded systems. The scheduling algorithm plays a significant role in…
This paper presents a {theoretical study} of the problem of verifying linearizability at runtime, where one seeks for a concurrent algorithm for verifying that the current execution of a given concurrent shared object implementation is…
RustMC is a stateless model checker that enables verification of concurrent Rust programs. As both Rust and C/C++ compile to LLVM IR, RustMC builds on GenMC which provides a verification framework for LLVM IR. This enables the automatic…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
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,…