Related papers: DORA: Dataflow Oriented Robotic Architecture
Centralized architectures for systems such as smart offices and homes are rapidly becoming obsolete due to inherent inflexibility in their design and management. This is because such systems should not only be easily re-configurable with…
In the autonomous vehicle and self-driving paradigm, cooperative perception or exchanging sensor information among vehicles over wireless communication has added a new dimension. Generally, an autonomous vehicle is a special type of robot…
Transformer-based models have demonstrated superior performance in various fields, including natural language processing and computer vision. However, their enormous model size and high demands in computation, memory, and communication…
Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Fine-tuning large-scale pre-trained models is inherently a resource-intensive task. While it can enhance the capabilities of the model, it also incurs substantial computational costs, posing challenges to the practical application of…
The widespread emergence of the Internet as a platform for electronic data distribution and the advent of structured information have revolutionized our ability to deliver information to any corner of the world. Although Service Oriented…
We introduce dro, an open-source Python library for distributionally robust optimization (DRO) for regression and classification problems. The library implements 14 DRO formulations and 9 backbone models, enabling 79 distinct DRO methods.…
Surgical procedures unfold in complex environments demanding coordination between surgical teams, tools, imaging and increasingly, intelligent robotic systems. Ensuring safety and efficiency in ORs of the future requires intelligent…
DiRAC is a scalable, distributed framework designed to enable efficient task assignment and path planning in very large robotic swarms. It introduces a novel zone-partitioned architecture with dynamically elected leaders and a…
According to the pay-per-use model adopted in clouds, the more the resources consumed by an application running in a cloud computing environment, the greater the amount of money the owner of the corresponding application will be charged.…
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…
This paper offers a tutorial on current middlewares in automated vehicles. Our aim is to provide the reader with an overview of current middlewares and to identify open challenges in this field. We start by explaining the fundamentals of…
We introduce CARLA, an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous urban driving systems. In addition to open-source code…
Robotic Mobile Fulfillment Systems (RMFS) rely on mobile robots for automated inventory transportation, coordinating order allocation and robot scheduling to enhance warehousing efficiency. However, optimizing RMFS is challenging due to…
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks…
Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…
Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…