Related papers: Optimizing ROS 2 Communication for Wireless Roboti…
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…
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…
This paper is concerned with optimization of distributed broadband wireless communication (BWC) systems. BWC systems contain a distributed antenna system (DAS) connected to a base station with optical fiber. Distributed BWC systems have…
Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…
This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS)…
This paper studies a combined space partitioning and network flow optimization problem, with applications to large-scale power, transportation, or communication systems. In dense wireless networks, one may want to simultaneously optimize…
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,…
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…
Intelligent mobile platforms such as smart vehicles and drones have recently become the focus of attention for onboard deployment of machine learning mechanisms to enable low latency decisions with low risk of privacy breach. However, most…
With increasing number of autonomous heterogeneous devices in future mobile networks, an efficient resource allocation scheme is required to maximize network throughput and achieve higher spectral efficiency. In this paper, performance of…
Fog Robotics renders networked robots with greater mobility, on-demand compute capabilities and better energy efficiency by offloading heavy robotics workloads to nearby Edge and distant Cloud data centers. However, as the de-facto standard…
To alleviate the burdens on the fronthaul and reduce the transmit latency, the device-to-device (D2D) communication is presented in cloud radio access networks (C-RANs). Considering dynamic traffic arrivals and time-varying channel…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
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…
The proliferation of novel industrial applications at the wireless edge, such as smart grids and vehicle networks, demands the advancement of cyber-physical systems. The performance of CPSs is closely linked to the last-mile wireless…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…