Related papers: Simultaneous Triggering and Synchronization of Sen…
Motivated by the Internet-of-things and sensor networks for cyberphysical systems, the problem of dynamic sensor activation for the centralized tracking of an i.i.d. time-varying process is examined. The tradeoff is between energy…
The increasing use of model-based tools enables further use of formal verification techniques in the context of distributed real-time systems. To avoid state explosion, it is necessary to construct verification models that focus on the…
The paper addresses state estimation for clock synchronization in the presence of factors affecting the quality of synchronization. Examples are temperature variations and delay asymmetry. These working conditions make synchronization a…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
A common aspect of today's cyber-physical systems is that multiple optimization-based control tasks may execute in a shared processor. Such control tasks make use of online optimization and thus have large execution times; hence, their…
While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Adaptive control technique is adopted to synchronize two identical non-autonomous systems with unknown parameters in finite time. A virtual unknown parameter is introduced in order to avoid the unknown parameters from appearing in the…
A fully-asynchronous network with one target sensor and a few anchors (nodes with known locations) is considered. Localization and synchronization are traditionally treated as two separate problems. In this paper, localization and…
Typical structural health monitoring configuration implies sensors and supervisor installations connected by electric cable for communication. As done in other wireless projects, this one aim at reducing installation and maintenance costsby…
This paper describes a calibration algorithm to simultaneously calibrate a magnetometer and an accelerometer without any information besides the sensors readings. Using a linear sensor model and maximum likelihood cost, the algorithm is…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
The imposition of real-time constraints on a parallel computing environment- specifically high-performance, cluster-computing systems- introduces a variety of challenges with respect to the formal verification of the system's timing…
Clock synchronization has become a key design objective in wireless networks for its essential importance in many applications. However, as the wireless link is prone to random network delays due to unreliable channel conditions, it is in…
Accurate and fast-convergent time synchronization is very important for wireless sensor networks. The flooding time synchronization converges fast, but its transmission delay and by-hop error accumulation seriously reduce the…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…
Timed B\"uchi automata provide a very expressive formalism for expressing requirements of real-time systems. Online monitoring and active testing of embedded real-time systems can then be achieved by symbolic execution of such automata on…