Related papers: SFG-ROS: A Resource-Aware Framework for Dense Mult…
In this paper, we present our software sensor fusion framework for self-driving cars and other autonomous robots. We have designed our framework as a universal and scalable platform for building up a robust 3D model of the agent's…
Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
Next-generation IoT applications increasingly span across autonomous administrative entities, necessitating silo-cooperative scheduling to leverage diverse computational resources while preserving data privacy. However, realizing efficient…
Reconfigurable Intelligent Surfaces (RISs) are emerging as a key enabler of Programmable Wireless Environments for 6G, but their practical integration into operational networks still lacks orchestration mechanisms that can jointly support…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
We introduce DeepFleet, a suite of foundation models designed to support coordination and planning for large-scale mobile robot fleets. These models are trained on fleet movement data, including robot positions, goals, and interactions,…
The integration of unmanned platforms equipped with advanced sensors promises to enhance situational awareness and mitigate the "fog of war" in military operations. However, managing the vast influx of data from these platforms poses a…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
To enable an intelligent, programmable and multi-vendor radio access network (RAN) for 6G networks, considerable efforts have been made in standardization and development of open RAN (O-RAN). So far, however, the applicability of O-RAN in…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
Deep learning is a key approach for the environment perception function of Cooperative Intelligent Transportation Systems (C-ITS) with autonomous vehicles and smart traffic infrastructure. In today's C-ITS, smart traffic participants are…
In this paper, we design a new flexible smart software-defined radio access network (Soft-RAN) architecture with traffic awareness for sixth generation (6G) wireless networks. In particular, we consider a hierarchical resource allocation…