相关论文: ROS Rescue : Fault Tolerance System for Robot Oper…

Modern robotic systems, deployed across domains from industrial automation to domestic assistance, face a critical challenge: executing tasks with precision and adaptability in dynamic, unpredictable environments. To address this, we…

We present a new approach to fault tolerance for High Performance Computing system. Our approach is based on a careful adaptation of the Algorithmic Based Fault Tolerance technique (Huang and Abraham, 1984) to the need of parallel…

As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…

The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…

With its growing use in industry, ROS is rapidly becoming a standard in robotics. While developments in ROS 2 show promise, the slow adoption cycles in industry will push widespread ROS 2 industrial adoption years from now. ROS will prevail…

Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting 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…

It is commonly agreed that highly parallel software on Exascale computers will suffer from many more runtime failures due to the decreasing trend in the mean time to failures (MTTF). Therefore, it is not surprising that a lot of research is…

As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…

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…

Agent faults pose a significant threat to the performance of multi-agent reinforcement learning (MARL) algorithms, introducing two key challenges. First, agents often struggle to extract critical information from the chaotic state space…

Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…

The trend toward autonomous robot deployments is on an upward growth curve. These robots are undertaking new tasks and are being integrated into society. Examples of this trend are autonomous vehicles, humanoids, and eldercare. The movement…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…

The central topic of this book is application-level fault-tolerance, that is the methods, architectures, and tools that allow to express a fault-tolerant system in the application software of our computers. Application-level fault-tolerance…

This paper examines the problem of introducing advanced forms of fault-tolerance via reconfiguration into safety-critical avionic systems. This is required to enable increased availability after fault occurrence in distributed integrated…

Cyber-physical systems (CPS) with reinforcement learning (RL)-based controllers are increasingly being deployed in complex physical environments such as autonomous vehicles, the Internet-of-Things(IoT), and smart cities. An important…

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…

Fault tolerance is a major concern in distributed computational settings. In the classic master-worker setting, a server (the master) needs to perform some heavy computation which it may distribute to $m$ other machines (workers) in order…

The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous…