Related papers: ROS 2 Agnocast: Supporting Unsized Message Types f…
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Communication anonymity is a key requirement for individuals under targeted surveillance. Practical anonymous communications also require indistinguishability - an adversary should be unable to distinguish between anonymised and…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
Robust optimization is a very popular means to address decision-making problems affected by uncertainty. Its success has been fueled by its attractive robustness and scalability properties, by ease of modeling, and by the limited…
Anycast messaging (i.e., sending a message to an unspecified receiver) has long been neglected by the anonymous communication community. An anonymous anycast prevents senders from learning who the receiver of their message is, allowing for…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols.…
Autonomous vehicles use 3D sensors for perception. Cooperative perception enables vehicles to share sensor readings with each other to improve safety. Prior work in cooperative perception scales poorly even with infrastructure support.…
Anycast is an internet addressing protocol where multiple hosts share the same IP-address. A popular architecture for modern Content Distribution Networks (CDNs) for geo-replicated HTTP-services consists of multiple layers of proxy nodes…
Designing distributed, fast and reliable wireless consensus protocols is instrumental in enabling mission-critical decentralized systems, such as robotic networks in the industrial Internet of Things (IIoT), drone swarms in rescue missions,…
In this paper, Recofigurable Intelligent Surface (RIS) assisted dual-hop multicast wireless communication network is proposed with two source nodes and two destination nodes. RIS boosts received signal strength through an intelligent…
The index coding problem is studied from an interference alignment perspective, providing new results as well as new insights into, and generalizations of, previously known results. An equivalence is established between multiple unicast…
Multiparty message-passing protocols are notoriously difficult to design, due to interaction mismatches that lead to errors such as deadlocks. Existing protocol specification formats have been developed to prevent such errors (e.g.…
Sparse regression codes with approximate message passing (AMP) decoding have gained much attention in recent times. The concepts underlying this coding scheme extend to unsourced access with coded compressed sensing (CCS), as first pointed…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…