Related papers: AUTOSAR AP and ROS 2 Collaboration Framework
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
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…
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…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
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…
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…
Full-stack autonomous driving system spans diverse technological domains-including perception, planning, and control-that each require in-depth research. Moreover, validating such technologies of the system necessitates extensive supporting…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
Transitioning from a Drive-by-Wire (DBW) system to a fully autonomous driving system (ADS) involves multiple stages of development and demands robust positioning and sensing capabilities. This paper presents a practice-driven framework for…
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…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
Autonomous driving systems have achieved significant advances, and full autonomy within defined operational design domains near practical deployment. Expanding these domains requires addressing safety assurance under diverse conditions.…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors.…