Related papers: Parallelized Code Generation from Simulink Models …
Parallel real-time embedded applications can be modelled as directed acyclic graphs (DAGs) whose nodes model subtasks and whose edges model precedence constraints among subtasks. Efficiently scheduling such parallel tasks can be challenging…
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…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
As CPU clock speeds have stagnated, and high performance computers continue to have ever higher core counts, increased parallelism is needed to take advantage of these new architectures. Traditional serial time-marching schemes are a…
In this study, we introduce a methodology for automatically transforming user applications in the radar and communication domain written in C/C++ based on dynamic profiling to a parallel representation targeted for a heterogeneous SoC. We…
The ever-increasing use of artificial intelligence in autonomous systems has significantly contributed to advance the research on multi-object tracking, adopted in several real-time applications (e.g., autonomous driving, surveillance…
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline.…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
The evolution of 5G and Beyond networks has enabled new applications with stringent end-to-end latency requirements, but providing reliable low-latency service with high throughput over public wireless networks is still a significant…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
In this short paper, we introduce the Ridgeline model, an extension of the Roofline model [4] for distributed systems. The Roofline model targets shared memory systems, bounding the performance of a kernel based on its operational…
Embedded computing systems today increasingly feature resource constraints and workload variability, which lead to uncertainty in resource availability. This raises great challenges to software design and programming in multitasking…
The bigraph embedding problem is crucial for many results and tools about bigraphs and bigraphical reactive systems (BRS). Current algorithms for computing bigraphical embeddings are centralized, i.e. designed to run locally with a complete…
CMS has worked aggressively to make use of multi-core architectures, routinely running 4- to 8-core production jobs in 2017. The primary impediment to efficiently scaling beyond 8 cores has been our ROOT-based output module, which has been…
Recent advances in large language models (LLMs) have significantly accelerated progress in code translation, enabling more accurate and efficient transformation across programming languages. While originally developed for natural language…
The Multi-Objective Shortest-Path (MOS) problem finds a set of Pareto-optimal solutions from a start node to a destination node in a multi-attribute graph. The literature explores multi-objective A*-style algorithmic approaches to solving…
A discrete-event simulation (DES) involves the execution of a sequence of event handlers dynamically scheduled at runtime. As a consequence, a priori knowledge of the control flow of the overall simulation program is limited. In particular,…
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,…
Developing multithreaded software is an extremely challenging task, even for experienced programmers. The challenge does not end after the code is written. There are other tasks associated with a development process that become…