Related papers: Dependency Chain Analysis of ROS 2 DDS QoS Policie…
This paper presents a proof-of-concept supply chain attack against the Secure ROS 2 (SROS 2) framework, demonstrated on a Quanser QCar2 autonomous vehicle platform. A Trojan-infected Debian package modifies core ROS 2 security commands to…
Most of the intrusion detection datasets to research machine learning-based intrusion detection systems (IDSs) are devoted to cyber-only systems, and they typically collect data from one architectural layer. Additionally, often the attacks…
Deep Reinforcement Learning (DRL) has achieved impressive performance in robotics and autonomous systems (RAS). A key challenge to its deployment in real-life operations is the presence of spuriously unsafe DRL policies. Unexplored states…
Industrial cyber-physical systems (CPS) have gained enormous attention of manufacturers in recent years due to their automation and cost reduction capabilities in the fourth industrial revolution (Industry 4.0). Such an industrial network…
To ensure safety in teleoperated driving scenarios, communication between vehicles and remote drivers must satisfy strict latency and reliability requirements. In this context, Predictive Quality of Service (PQoS) was investigated as a tool…
Modern robotic systems integrate multiple independent software and hardware components, each responsible for distinct functionalities such as perception, decision-making, and execution. These components interact extensively to accomplish…
Real-Time availability of information is of most importance in large scale distributed interactive simulation in network-centric communication. Information generated from multiple federates must be distributed and made available to…
Efficient mobility management and load balancing are critical to sustaining Quality of Service (QoS) in dense, highly dynamic 5G radio access networks. We present a deep reinforcement learning framework based on Proximal Policy Optimization…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Data Distribution Service (DDS) is an innovative approach towards communication in ICS/IoT infrastructure and robotics. Being based on the cross-platform and cross-language API to be applicable in any computerised device, it offers the…
The type of decision dependent uncertainties (DDUs) imposes a great challenge in decision making, while existing methodologies are not sufficient to support many real practices. In this paper, we present a systematic study to handle this…
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…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
While Deep Reinforcement Learning (DRL) provides transformational capabilities to the control of Robotics and Autonomous Systems (RAS), the black-box nature of DRL and uncertain deployment environments of RAS pose new challenges on its…
The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…
One of the major challenges in Dynamic Spectrum Access (DSA) systems is to guarantee a required level of Quality of Service (QoS) to secondary users of the spectrum. In this paper, we propose efficient algorithms for deriving optimal…
The fifth generation (5G) cellular network technology is mature and increasingly utilized in many industrial and robotics applications, while an important functionality is the advanced Quality of Service (QoS) features. Despite the…
Cellular vehicle-to-everything (C-V2X) communication is a key enabler for future cooperative automated driving and safety-related applications. The requirements they demand in terms of Quality of Service (QoS) performance vary according to…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…