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The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
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…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
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…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
A wireless sensor network consists of light-weight, low power, small size sensor nodes. Routing in wireless sensor networks is a demanding task. This demand has led to a number of routing protocols which efficiently utilize the limited…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
A wireless sensor network is composed of many sensor nodes that have been given out in a specific zone and each of them had an ability of collecting information from the environment and sending collected data to the sink. The most…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
In this paper we propose a new scheduling algorithm called Real Time Scheduling (RTS) which uses virtual nodes for self stabilization. This algorithm deals with all the contributing components of the end-to-end travelling delay of data…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
This paper proposes a Traffic-Differentiated Two-Hop Routing protocol for Quality of Service (QoS) in Wireless Sensor Networks (WSNs). It targets WSN applications having different types of data traffic with several priorities. The protocol…
Networking in Wireless Sensor networks is a challenging task due to the lack of resources in the network as well as the frequent changes in network topology. Although lots of research has been done on supporting QoS in the Internet and…
Many wireless protocols wait a small and random amount of time which is called jitter before sending a packet to avoid high contention and packet collision. Jitter has been already proposed for many routing protocols including AODV and…
The increased data transmission and number of devices involved in communications among distributed systems make it challenging yet significantly necessary to have an efficient and reliable networking middleware. In robotics and autonomous…