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Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…
Accurate altitude estimation and reliable floor recognition are critical for mobile robot localization and navigation within complex multi-storey environments. In this paper, we present a robust, low-cost vertical estimation framework…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
Enabling secure and reliable high-bandwidth lowlatency connectivity between automated vehicles and external servers, intelligent infrastructure, and other road users is a central step in making fully automated driving possible. The…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
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…
Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…
Intrusion Detection Systems (IDS) are key components for securing critical infrastructures, capable of detecting malicious activities on networks or hosts. The procedure of implementing a IDS for Internet of Things (IoT) networks is not…
The integration of Automated Delivery Robots (ADRs) into pedestrian-heavy urban spaces introduces unique challenges in terms of safe, efficient, and socially acceptable navigation. We develop the complete pipeline for a single vision sensor…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
As radar sensors are being miniaturized, there is a growing interest for using them in indoor sensing applications such as indoor drone obstacle avoidance. In those novel scenarios, radars must perform well in dense scenes with a large…
Multicore timing interference, arising when multiple requests contend for the same shared hardware resources, is a primary concern for timing verification and validation of time-critical applications. Bandwidth control and regulation…
Autonomous robots use simultaneous localization and mapping (SLAM) for efficient and safe navigation in various environments. LiDAR sensors are integral in these systems for object identification and localization. However, LiDAR systems…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
The 5G mobile networks extend the capability for supporting collaborative robot operations in outdoor scenarios. However, the restricted battery life of robots still poses a major obstacle to their effective implementation and utilization…
Reliable out-of-distribution (OOD) detection is a critical requirement for the safe deployment of machine learning systems. Despite recent progress, state-of-the-art OOD detectors are highly susceptible to adversarial attacks, which…
Mobile robots are cyber-physical systems where the cyberspace and the physical world are strongly coupled. Attacks against mobile robots can transcend cyber defenses and escalate into disastrous consequences in the physical world. In this…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor…
The rapid evolution of mobile networks from 5G to 6G has necessitated the development of autonomous network management systems, such as Zero-Touch Networks (ZTNs). However, the increased complexity and automation of these networks have also…