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Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in…
Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…
In virtual desktop infrastructure (VDI) environments, the remote display protocol has a big responsibility to transmit video data from a data center-hosted desktop to the endpoint. The protocol must ensure a high level of client perceived…
Diffusion policies (DPs) achieve state-of-the-art performance on complex manipulation tasks by learning from large-scale demonstration datasets, often spanning multiple embodiments and environments. However, they cannot guarantee safe…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
With the prevalence of X-as-a-Service (e.g., software as a service, platform as a service, infrastructure as a service, etc.) and users' growing demand on good services, QoS (Quality of Service) assurance is becoming increasingly important…
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…
The use of web services has dominated software industry. Existing technologies of web services are extended to give value added customized services to customers through composition. Automated web service composition is a very challenging…
A distributed application executing on a Network of Workstations (NOW) needs to be resource state aware to possibly adapt itself accordingly in order to keep satisfying the desired Quality of Service (QoS) demands throughout its lifespan.…
In this paper, we consider networked distributed systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. First, we consider a simple and typical scenario where…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
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,…
5G communication system can support the demanding quality-of-service (QoS) requirements of many advanced vehicle-to-everything (V2X) use cases. However, the safe and efficient driving, especially of automated vehicles, may be affected by…
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…
Decentralised Autonomous Organisations (DAOs) automate governance and resource allocation through smart contracts, aiming to shift decision-making to distributed token holders. However, many DAOs face sustainability challenges linked to…
In modern SD-WAN networks, a global controller is able to steer traffic on different paths based on application requirements and global intents. However, existing solutions cannot dynamically tune the way bandwidth is shared between flows…
Future Tele-operated Driving (ToD) applications place challenging Quality of Service (QoS) demands on existing mobile communication networks that are of highly important to comply with for safe operation. New remote control and platooning…
Flying and ground-based cars require various services such as autonomous driving, remote pilot, infotainment, and remote diagnosis. Each service requires specific Quality of Service (QoS) and network features. Therefore, network slicing can…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…