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The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
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…
Budget pacing is a popular service that has been offered by major internet advertising platforms since their inception. Budget pacing systems seek to optimize advertiser returns subject to budget constraints by smoothly spending advertiser…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…
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,…
With the rapid development of high-speed railway systems and railway wireless communication, the application of ultra-wideband millimeter wave band is an inevitable trend. However, the millimeter wave channel has large propagation loss and…
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,…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Modern commercial-off-the-shelf (COTS) multicore processors have advanced memory hierarchies that enhance memory-level parallelism (MLP), which is crucial for high performance. To support high MLP, shared last-level caches (LLCs) are…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
In safety-critical systems, timing accuracy is the key to achieving precise I/O control. To meet such strict timing requirements, dedicated hardware assistance has recently been investigated and developed. However, these solutions are often…
The performance of modern wireless communication systems is typically limited by interference. The impact of interference can be even more severe in ultra-reliable and low-latency communication (URLLC) use cases. A powerful tool for…
Reconfigurable intelligent surfaces (RISs) have been introduced as arrays of nearly passive elements with software-tunable electromagnetic properties to dynamically manipulate the reflection/transmission of radio signals. Research works in…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
Accurate wireless timing synchronization has been an extremely important topic in wireless sensor networks, required in applications ranging from distributed beam forming to precision localization and navigation. However, it is very…
Implementing new, high-performance MAC protocols requires real-time features, to be able to synchronize correctly between different unrelated devices. Such features are highly desirable for operating wireless sensor networks (WSN) that are…