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There is an ever-present need for shared memory parallelization schemes to exploit the full potential of multi-core architectures. The most common parallelization API addressing this need today is OpenMP. Nevertheless, writing parallel code…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
Multidimensional Retiming is one of the most important optimization techniques to improve timing parameters of nested loops. It consists in exploring the iterative and recursive structures of loops to redistribute computation nodes on cycle…
We develop an efficient parallel distributed algorithm for matrix completion, named NOMAD (Non-locking, stOchastic Multi-machine algorithm for Asynchronous and Decentralized matrix completion). NOMAD is a decentralized algorithm with…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
As the demand of real time computing increases day by day, there is a major paradigm shift in processing platform of real time system from single core to multi-core platform which provides advantages like higher throughput, linear power…
Achieving spatial intelligence requires moving beyond visual plausibility to build world simulators grounded in physical laws. While coding LLMs have advanced static 3D scene generation, extending this paradigm to 4D dynamics remains a…
We consider the partitioned scheduling problem of multimode real-time systems upon identical multiprocessor platforms. During the execution of a multimode system, the system can change from one mode to another such that the current task set…
Earthwork operations face increasing demand, while workforce aging creates a growing need for automation. ROS2-TMS for Construction, a Cyber-Physical System framework for construction machinery automation, has been proposed; however, its…
We present SymPhas 2.0, a major update of the compile-time symbolic algebra simulation framework SymPhas for phase-field and reaction-diffusion models. This release introduces significant expansions and enhancements that enable the…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
In this paper a self-developed controller algorithm is presented with the goal of handling a basic parking maneuver. One of the biggest challenges of autonomous vehicle control is the right calibration and finding the right vehicle models…
The increasing complexity and the short life cycles of embedded systems are pushing the current system-on-chip designs towards a rapid increasing on the number of programmable processing units, while decreasing the gate count for custom…
Regions of nested loops are a common feature of High Performance Computing (HPC) codes. In shared memory programming models, such as OpenMP, these structure are the most common source of parallelism. Parallelising these structures requires…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
Although event-driven algorithms have been shown to be far more efficient than time-driven methods such as conventional molecular dynamics, they have not become as popular. The main obstacle seems to be the difficulty of parallelizing…
Developers of Molecular Dynamics (MD) codes face significant challenges when adapting existing simulation packages to new hardware. In a continuously diversifying hardware landscape it becomes increasingly difficult for scientists to be…