相关论文: Pound: A ROS node for Reducing Delay and Jitter in…
Recent advances in electronics are enabling substantial processing to be performed at each node (robots, sensors) of a networked system. Local processing enables data compression and may mitigate measurement noise, but it is still slower…
Communication technology is a major contributor to our lifestyles. Improving the performance of communication system brings with various benefits to human beings. This report covers two typical such systems: wireless sensor networks and…
We study a wireless ad-hoc sensor network (WASN) where $N$ sensors gather data from the surrounding environment and transmit their sensed information to $M$ fusion centers (FCs) via multi-hop wireless communications. This node deployment…
The Robot Operating System (ROS) streamlines human processes, increasing the efficiency of various production tasks. However, the security of data transfer operations in ROS is still in its immaturity. Securing data exchange between several…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
Reconfigurable intelligent surfaces (RISs) is a promising solution for enhancing the performance of multihop wireless communication networks. In this paper, we propose a double-RIS assisted multihop routing scheme for a device-to-device…
This paper introduces Proof of Team Sprint (PoTS), a novel consensus algorithm designed to address the significant energy inefficiencies inherent in traditional Proof of Work (PoW) systems. PoTS shifts the consensus mechanism from an…
This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS)…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
We consider a fundamental problem concerning the deployment of a wireless robotic network: to fulfill various end-to-end performance requirements, a "sufficient" number of robotic relays must be deployed to ensure that links are of…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource for systems that do not contain high computing power…
The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…
A significant challenge for computation offloading in wireless multi-hop networks is the complex interaction among traffic flows in the presence of interference. Existing approaches often ignore these key effects and/or rely on outdated…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
The latency gap between wired and wireless networks poses a challenge in the adoption of wireless technologies in latency-sensitive scenarios. The gap is especially notable in multi-hop communication typical for industrial sensor networks…
The back-pressure algorithm is a well-known throughput-optimal algorithm. However, its delay performance may be quite poor even when the traffic load is not close to network capacity due to the following two reasons. First, each node has to…
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…