Related papers: ROS 2 Agnocast: Supporting Unsized Message Types f…
In this paper, we investigate a cell-free massive multiple-input and multiple-output (MIMO)-enabled integration communication, computation, and sensing (ICCS) system, aiming to minimize the maximum computation latency to guarantee the…
Recent advancements in AI and edge computing have accelerated the development of machine-centric applications (MCAs), such as smart surveillance systems. In these applications, video cameras and sensors offload inference tasks like license…
Remote Procedure Call (RPC) is a communication protocol to support client-server interactions among services over a network. RPC is widely applied in industry for building large-scale distributed systems, such as Microservices. Modern RPC…
This paper considers an artificial noise (AN)-aided transmit design for multi-user MIMO systems with integrated services. Specifically, two sorts of service messages are combined and served simultaneously: one multicast message intended for…
As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource for systems that do not contain high computing power…
Real-time scheduling in commoditized component-oriented real-time systems, such as ROS 2 systems on Linux, has been studied under nested scheduling: OS thread scheduling and middleware layer scheduling (e.g., ROS 2 Executor). However, by…
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modification of the previous OpenPodcar…
Discrete audio tokenizers are fundamental to empowering large language models with native audio processing and generation capabilities. Despite recent progress, existing approaches often rely on pretrained encoders, semantic distillation,…
AI agents increasingly run untrusted code on developer machines: shell commands generated by language models, third-party scripts retrieved at runtime, and tool plugins of unknown provenance. Existing isolation mechanisms impose tradeoffs…
For digital infrastructure to be safe, compatible, and standards-aligned, automated communication protocol compliance verification is crucial. Nevertheless, current rule-based systems are becoming less and less effective since they are…
Atomic multicast is a communication abstraction where messages are propagated to groups of processes with reliability and order guarantees. Atomic multicast is at the core of strongly consistent storage and transactional systems. This paper…
We present an algorithm for synchronous deterministic Byzantine consensus, tolerant to links failures and links asynchrony. It cares for a class of networks with specific needs, where both safety and liveness are essential, and timely…
High performance networks (e.g. Infiniband) rely on zero-copy operations for performance. Zero-copy operations, as the name implies, avoid copying buffers for sending and receiving data. Instead, hardware devices directly read and write to…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
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…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g.,…
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…
This paper considers reconfigurable intelligent surface (RIS)-assisted point-to-point multiple-input multiple-output (MIMO) communication systems, where a transmitter communicates with a receiver through an RIS. Based on the main target of…
In this paper, we introduce Zest (REST over ZeroMQ), a middleware technology in support of an Internet of Things (IoT). Our work is influenced by the Constrained Application Protocol (CoAP) but emphasises systems that can support…