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The use of autonomous robots for delivery of goods to customers is an exciting new way to provide a reliable and sustainable service. However, in the real world, autonomous robots still require human supervision for safety reasons. We…
ZZ crosstalk and decoherence hinder superconducting quantum computing. To enhance parallelism in mitigating ZZ crosstalk, we formulate the problem by integrating quantum cycles and two forms of qubit interference. We then propose CYCO, a…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is highly significant for industrial…
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…
The growing demand for intelligent services on resource-constrained edge devices has spurred the development of collaborative inference systems that distribute workloads across end devices, edge servers, and the cloud. While most existing…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Mixed-criticality real-time scheduling has been developed to improve resource utilization while guaranteeing safe execution of critical applications. These studies use optimistic resource reservation for all the applications to improve…
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the…
CPUs provide isolation mechanisms like virtualization and privilege levels to protect software. Yet these focus on architectural isolation while typically overlooking microarchitectural side channels, exemplified by Meltdown and Foreshadow.…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Today, leveraging the enormous modular power, diversity and flexibility of manycore systems-on-a-chip (SoCs) requires careful orchestration of complex resources, a task left to low-level software, e.g. hypervisors. In current architectures,…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
Measurement-based analysis of software timing behavior provides important insight and evidence for flight certification of modern avionics systems. For multicore systems, however, this analysis is challenging due to interference effects…
Centralized clouds processing the large amount of data generated by Internet-of-Things (IoT) can lead to unacceptable latencies for the end user. Against this backdrop, Edge Computing (EC) is an emerging paradigm that can address the…
Efficient data access in High-Performance Computing (HPC) systems is essential to the performance of intensive computing tasks. Traditional optimizations of the I/O stack aim to improve peak performance but are often workload specific and…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…