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Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
This paper explores the issue of enabling Ultra-Reliable Low-Latency Communications (URLLC) in view of the spatio-temporal correlations that characterize real 5th generation (5G) Industrial Internet of Things (IIoT) networks. In this…
Extensive polling in shared-memory manycore systems can lead to contention, decreased throughput, and poor energy efficiency. Both lock implementations and the general-purpose atomic operation, load-reserved/store-conditional (LRSC), cause…
With more devices connected, delays and jitter at the WiFi hop become more prevalent, and correct functioning during network congestion becomes more important. However, two important performance issues prevent modern WiFi from reaching its…
The analysis of source code through machine learning techniques is an increasingly explored research topic aiming at increasing smartness in the software toolchain to exploit modern architectures in the best possible way. In the case of…
In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…
Designing efficient neural networks for embedded devices is a critical challenge, particularly in applications requiring real-time performance, such as aerial imaging with drones and UAVs for emergency responses. In this work, we introduce…
Nested parallelism exists in scientific codes that are searching multi-dimensional spaces. However, implementations of nested parallelism often have overhead and load balance issues. The Orbital Analysis code we present exhibits a sparse…
For the last several months the main focus of development in the ROOT I/O package has been code consolidation and performance improvements. Access to remote files is affected both by bandwidth and latency. We introduced a pre-fetch…
Real-life parallel machine scheduling problems can be characterized by: (i) limited information about the exact task duration at scheduling time, and (ii) an opportunity to reschedule the remaining tasks each time a task processing is…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
Caches are used to reduce the speed differential between the CPU and memory to improve the performance of modern processors. However, attackers can use contention-based cache timing attacks to steal sensitive information from victim…
Mobile edge computing (MEC) and wireless power transfer (WPT) are two promising techniques to enhance the computation capability and to prolong the operational time of low-power wireless devices that are ubiquitous in Internet of Things.…
Reinforcement learning (RL) has shown promise in a large number of robotic control tasks. Nevertheless, its deployment on unmanned aerial vehicles (UAVs) remains challenging, mainly because of reliance on accurate dynamic models and…
Traditional approaches to replication require client requests to be ordered before making them durable by copying them to replicas. As a result, clients must wait for two round-trip times (RTTs) before updates complete. In this paper, we…
In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…
Computational guidance is an emerging and accelerating trend in aerospace guidance and control. Combining machine learning and convex optimization, this paper presents a real-time computational guidance method for the 6-degrees-of-freedom…
In safety-critical systems, timing accuracy is the key to achieving precise I/O control. To meet such strict timing requirements, dedicated hardware assistance has recently been investigated and developed. However, these solutions are often…
Enabling full robotic workloads with diverse behaviors on mobile systems with stringent resource and energy constraints remains a challenge. In recent years, attempts have been made to deploy single-accelerator-based computing platforms…
Current serverless platforms struggle to optimize resource utilization due to their dynamic and fine-grained nature. Conventional techniques like overcommitment and autoscaling fall short, often sacrificing utilization for practicability or…