Related papers: ROS 2 Agnocast: Supporting Unsized Message Types f…
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
In this work, we introduce iviz, a mobile application for visualizing ROS data. In the last few years, the popularity of ROS has grown enormously, making it the standard platform for open source robotic programming. A key reason for this…
The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. The…
Most of the intrusion detection datasets to research machine learning-based intrusion detection systems (IDSs) are devoted to cyber-only systems, and they typically collect data from one architectural layer. Additionally, often the attacks…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
In the autonomous vehicle and self-driving paradigm, cooperative perception or exchanging sensor information among vehicles over wireless communication has added a new dimension. Generally, an autonomous vehicle is a special type of robot…
Inter-Component Communication (ICC) is a key mechanism in Android. It enables developers to compose rich functionalities and explore reuse within and across apps. Unfortunately, as reported by a large body of literature, ICC is rather…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
Publish-subscribe systems are a popular approach for edge-based IoT use cases: Heterogeneous, constrained edge devices can be integrated easily, with message routing logic offloaded to edge message brokers. Message processing, however, is…
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,…
Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and intercede when necessary, manually or autonomously. Prior work in…
The increased data transmission and number of devices involved in communications among distributed systems make it challenging yet significantly necessary to have an efficient and reliable networking middleware. In robotics and autonomous…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
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…
Reliable broadcast (RBC) is a key primitive in fault-tolerant distributed systems, and improving its efficiency can benefit a wide range of applications. This work focuses on signature-free RBC protocols, which are particularly attractive…
The automotive industry is currently undergoing a major transformation with respect to the Electric/Electronic (E/E) and software architecture, driven by a significant increase in the complexity of the technological stack within a vehicle.…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
Autonomous agentic systems are largely static after deployment: they do not learn from user interactions, and recurring failures persist until the next human-driven update ships a fix. Self-evolving agents have emerged in response, but all…
gRPC is at the heart of modern distributed system architectures. Based on HTTP/2 and Protocol Buffers, it provides highly performant, standardized, and polyglot communication across loosely coupled microservices and is increasingly…
This paper investigates a novel transmissive reconfigurable intelligent surface (RIS) transceiver architectureenabled multigroup multicast downlink communication system. Under this setup, an optimization problem is formulated to maximize…