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Sensing-assisted communication schemes have recently garnered significant research attention. In this work, we design a dual-function reconfigurable intelligent surface (RIS), integrating both active and passive elements, referred to as the…
The advancement of autonomous driving systems hinges on the ability to achieve low-latency and high-accuracy perception. To address this critical need, this paper introduces Dynamic Routing Network (DyRoNet), a low-rank enhanced dynamic…
Cloud robotics enables robots to offload complex computational tasks to cloud servers for performance and ease of management. However, cloud compute can be costly, cloud services can suffer occasional downtime, and connectivity between the…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
Distributed Denial of Service (DDoS) is one of the most prevalent attacks that an organizational network infrastructure comes across nowadays. We propose a deep learning based multi-vector DDoS detection system in a software-defined network…
The Synergistic Collapse occurs when scaling beyond 100 agents causes superlinear performance degradation that individual optimizations cannot prevent. We observe this collapse with 150 cameras in Smart City deployment using MADDPG, where…
Multiple federated learning (FL) methods are proposed for traffic flow forecasting (TFF) to avoid heavy-transmission and privacy-leaking concerns resulting from the disclosure of raw data in centralized methods. However, these FL methods…
Feature transformation enhances downstream task performance by generating informative features through mathematical feature crossing. Despite the advancements in deep learning, feature transformation remains essential for structured data,…
In this paper, we design a new smart software-defined radio access network architecture which is flexible and traffic and density aware for the fifth generation (5G) of cellular wireless networks and beyond. The proposed architecture, based…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
The escalating complexity of modern software imposes an unsustainable operational burden on Site Reliability Engineering (SRE) teams, demanding AI-driven automation that can emulate expert diagnostic reasoning. Existing solutions, from…
The automotive industry is currently undergoing a major transformation with respect to the Electric/Electronic (E/E) and software architecture, driven by a significant increase in the complexity of the technological stack within a vehicle.…
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…
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)…
Robots are integrating more huge-size models to enrich functions and improve accuracy, which leads to out-of-control computing pressure. And thus robots are encountering bottlenecks in computing power and battery capacity. Fog or cloud…
Wireless Sensor Networks (WSNs) are highly distributed networks consisting of a large number of tiny, low-cost, light-weight wireless nodes deployed to monitor an environment or a system. Each node in a WSN consists of three subsystems: the…
Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…
Autoware is an autonomous driving system implemented on Robot Operation System (ROS) 2, where an end-to-end timing guarantee is crucial to ensure safety. However, existing ROS 2 cause-effect chain models for analyzing end-to-end latency…