Related papers: A first look at ROS 2 applications written in asyn…
The increasing complexity and interconnectivity of digital infrastructures make scalable and reliable security assessment methods essential. Robotic systems represent a particularly important class of operational technology, as modern…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
This paper describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS2 integration for the Robotino available. In this paper, we describe our work…
C/C++ is a prevalent programming language. Yet, it suffers from significant memory and thread-safety issues. Recent studies have explored automated translation of C/C++ to safer languages, such as Rust. However, these studies focused mostly…
Context: The integration of Rust into kernel development is a transformative endeavor aimed at enhancing system security and reliability by leveraging Rust's strong memory safety guarantees. Objective: We aim to find the current advances in…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
In recent years, there has been a lot of interest in converting C code to Rust, to benefit from the memory and thread safety guarantees of Rust. C2Rust is a rule-based system that can automatically convert C code to functionally identical…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
This paper complements "Writing R Extensions," the official guide for writing R extensions, for those interested in developing R packages using Rust. It highlights idiosyncrasies of R and Rust that must be addressed by any integration and…
Embedded real-time systems (RTS) are pervasive. Many modern RTS are exposed to unknown security flaws, and threats to RTS are growing in both number and sophistication. However, until recently, cyber-security considerations were an…
The diversification of functionalities and the development of the IoT are making embedded systems larger and more complex in structure. Ensuring system reliability, especially in terms of security, necessitates selecting an appropriate…
Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing…
Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way.…
Translating legacy C codebases to Rust is increasingly demanded for building safety-critical systems. While various approaches have emerged for this task, they face inherent trade-offs: rule-based methods often struggle to satisfy code…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…
The problem of multi-robot target tracking asks for actively planning the joint motion of robots to track targets. In this paper, we focus on such target tracking problems in adversarial environments, where attacks or failures may…