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We present a hardware-native gadget framework for solving constraint satisfaction problems on Rydberg quantum computing architectures. Our approach introduces a compact $xor_1$ gadget that enforces exactly-one constraints, ubiquitous in…
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections. Although many solutions have been proposed that ensure…
This work proposes Isogeometric Analysis as an alternative to classical finite elements for simulating electric machines. Through the spline-based Isogeometric discretization it is possible to parametrize the circular arcs exactly, thereby…
Isolation of spacecraft microvibrations is essential for the successful deployment of instruments relying on high-precision pointing. Hexapod platforms represent a promising solution, but the difficulties associated with attaining desirable…
Most commercial embedded devices have been deployed with a single processor architecture. The code size and complexity of applications running on embedded devices are rapidly increasing due to the emergence of application business models…
The feasibility of federated learning is highly constrained by the server-clients infrastructure in terms of network communication. Most newly launched smartphones and IoT devices are equipped with GPUs or sufficient computing hardware to…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
Mobile Crowd Computing (MCdC) leverages the idle computational capacity of consumer smartphones to enable distributed task processing at scale; however, widespread real-world adoption remains constrained by the absence of developer-oriented…
As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and…
Hardware-firmware integration is becoming a productivity bottleneck due to the increasing complexity of accelerators, characterized by intricate memory hierarchies and firmware-intensive execution. While numerous verification techniques…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical artifacts, while small steps force the simulation to run…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
We study the distributed optimization of transmit strategies in a multiple-input, single-output (MISO) interference channel (IFC). Existing distributed algorithms rely on stricly synchronized update steps by the individual users. They…
As the landscape of devices that interact with the electrical grid expands, also the complexity of the scenarios that arise from these interactions increases. Validation methods and tools are typically domain specific and are designed to…
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…
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex…
Computer systems often provide hardware support for isolation mechanisms like privilege levels, virtual memory, or enclaved execution. Over the past years, several successful software-based side-channel attacks have been developed that…
We present a synchronous robotic testbed called SyROF that allows fast implementation of robotic swarms. Our main goal is to lower the entry barriers to cooperative-robot systems for undergraduate and graduate students. The testbed provides…