相关论文: ROS 2 for RoboCup

Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed,…

Robotic datasets are important for scientific benchmarking and developing algorithms, for example for Simultaneous Localization and Mapping (SLAM). Modern robotic datasets feature video data of high resolution and high framerates. Storing…

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…

Soccer Simulation 2D (SS2D) is a simulation of a real soccer game in two dimensions. In soccer, passing behavior is an essential action for keeping the ball in possession of our team and creating goal opportunities. Similarly, for SS2D,…

Cloud native technologies have been observed to expand into the realm of Internet of Things (IoT) and Cyber-physical Systems, of which an important application domain is robotics. In this paper, we review the cloudification practice in the…

Cloud service providers provide over 50,000 distinct and dynamically changing set of cloud server options. To help roboticists make cost-effective decisions, we present FogROS2-Config, an open toolkit that takes ROS2 nodes as input and…

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…

Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the…

Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…

ARES OS 2.0 (hereinafter ARES OS) is an open-source software suite to enable laboratory automation and closed-loop autonomous experimentation. Its function is to orchestrate experimental actions and data handoff between lab equipment,…

Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…

Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…

With the increasing ubiquity of autonomous robotic solutions, the interest in their connectivity and in the cooperation within multi-robot systems is rising. Two aspects that are a matter of current research are robot security and secure…

Language instructions and demonstrations are two natural ways for users to teach robots personalized tasks. Recent progress in Large Language Models (LLMs) has shown impressive performance in translating language instructions into code for…

Efforts are underway at UT Austin to build autonomous robot systems that address the challenges of long-term deployments in office environments and of the more prescribed domestic service tasks of the RoboCup@Home competition. We discuss…

RoboCup is an international scientific robot competition in which teams of multiple robots compete against each other. Its different leagues provide many sources of robotics data, that can be used for further analysis and application of…

Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…

Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system.…

We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…

In traditional robot behavior programming, the edit-compile-simulate-deploy-run cycle creates a large mental disconnect between program creation and eventual robot behavior. This significantly slows down behavior development because there…