Related papers: Optimizing ROS 2 Communication for Wireless Roboti…
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…
Device-to-device (D2D) communication in cellular networks allows direct transmission between two cellular devices with local communication needs. Due to the increasing number of autonomous heterogeneous devices in future mobile networks, an…
Robotic middleware is fundamental to ensuring reliable communication among system components and is crucial for intelligent robotics, autonomous vehicles, and smart manufacturing. However, existing robotic middleware often struggles to meet…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
Satellite systems face a significant challenge in effectively utilizing limited communication resources to meet the demands of ground network traffic, characterized by asymmetrical spatial distribution and time-varying characteristics.…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
Device-to-device (D2D) communication is a promising approach to optimize the utilization of air interface resources in 5G networks, since it allows decentralized opportunistic short-range communication. For D2D to be useful, mobile nodes…
Device-to-device (D2D) technology enables direct communication between adjacent devices within cellular networks. Due to its high data rate, low latency, and performance improvement in spectrum and energy efficiency, it has been widely…
In this paper, we study underlay device-to-device (D2D) communication systems empowered by a reconfigurable intelligent surface (RIS) for cognitive cellular networks. Considering Rayleigh fading channels and the general case where there…
Device-to-device (D2D) communications offers high spectral efficiency, low energy consumption and transmission latency. However, one of the main limitations of D2D communications is co-channel interference from underlaying wireless system.…
A two-hop wireless communication link in which a source sends data to a destination with the aid of an intermediate relay node is studied. It is assumed that there is no direct link between the source and the destination, and the relay…
ROS 2 has become a dominant middleware for robotic systems, where perception, estimation, planning, and control pipelines are structured as directed acyclic graphs of callbacks executed under a shared executor. However, default ROS 2…
This paper addresses the crucial need for reliable wireless communication in vehicular networks, particularly vital for the safety and efficacy of (semi-)autonomous driving amid increasing traffic. We explore the use of Reconfigurable…
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity,…
The massive scale of future wireless networks will create computational bottlenecks in performance optimization. In this paper, we study the problem of connecting mobile traffic to Cloud RAN (C-RAN) stations. To balance station load, we…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
Wireless devices need spectrum to communicate. With the increase in the number of devices competing for the same spectrum, it has become nearly impossible to support the throughput requirements of all the devices through current spectrum…
Distributed Opportunistic Scheduling (DOS) techniques have been recently proposed to improve the throughput performance of wireless networks. With DOS, each station contends for the channel with a certain access probability. If a contention…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Three key factors in MWSNs, sensing quality, energy consumption, and connectivity, have attracted plenty of attention, but the interaction of…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…