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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…
Ensuring robust security in near-field Integrated Sensing and Communication (ISAC) systems remains a critical challenge due to dynamic channel conditions, multi-eavesdropper threats, and the high computational burden of real-time…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
We introduce Mars 2.0 for modeling, analysis, verification and code generation of Cyber-Physical Systems. Mars 2.0 integrates Mars 1.0 with several important extensions and improvements, allowing the design of cyber-physical systems using…
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…
This letter presents a multi-scenario adaptable intelligent robot simulation platform based on LIDAR-inertial fusion, with three main features: (1 The platform includes an versatile robot model that can be freely controlled through manual…
Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties of robots and the objects they manipulate. Existing methods…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
This letter proposes a two-stage distributionally robust optimization (DRO) framework for secure deployment and beamforming in an aerial reconfigurable intelligent surface (A-RIS) assisted millimeter-wave system. To account for…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
Complex systems are often decomposed into modular subsystems for engineering tractability. Although various equation based white-box modeling techniques make use of such structure, learning based methods have yet to incorporate these ideas…
We present Sym2Real, a fully data-driven framework that provides a principled way to train low-level adaptive controllers in a highly data-efficient manner. Using only about 10 trajectories, we achieve robust control of both a quadrotor and…
We present MOSAIC, a modular architecture for coordinating multiple robots to (a) interact with users using natural language and (b) manipulate an open vocabulary of everyday objects. MOSAIC employs modularity at several levels: it…
Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…
Robots are integrating more huge-size models to enrich functions and improve accuracy, which leads to out-of-control computing pressure. And thus robots are encountering bottlenecks in computing power and battery capacity. Fog or cloud…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
Model-Driven Engineering (MDE) relies on explicit architecture models to document and evolve systems across abstraction levels. For ROS~2, subsystem structure is often encoded implicitly in distributed configuration artifacts -- most…
Vanadium dioxide (VO2) exhibits a hysteretic insulator-to-metal transition near room temperature, forming the foundation for various forms of resistive switching devices. Usually, these are realized in the form of two-terminal bridge-like…