相关论文: ElasticROS: An Elastically Collaborative Robot Ope…

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…

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 collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…

In this paper, we propose a load balancing algorithm based on Reinforcement Learning (RL) to optimize the performance of Fog Computing for real-time IoT applications. The algorithm aims to minimize the waiting delay of IoT workloads in…

Fog computing is an emerging computing paradigm which is mainly suitable for time-sensitive and real-time Internet of Things (IoT) applications. Academia and industries are focusing on the exploration of various aspects of Fog computing for…

Cloud elasticity - the ability to use as much resources as needed at any given time - and low cost - a user pays only for the resources it consumes - represent solid incentives for many organizations to migrate some of their computational…

In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…

As the ratification of 5G New Radio technology is being completed, enabling network architectures are expected to undertake a matching effort. Conventional cloud and edge computing paradigms may thus become insufficient in supporting the…

The presence of autonomous systems is growing at a fast pace and it is impacting many aspects of our lives. Designed to learn and act independently, these systems operate and perform decision-making without human intervention. However, they…

Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…

Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…

Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…

Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…

Edge/fog computing, as a distributed computing paradigm, satisfies the low-latency requirements of ever-increasing number of IoT applications and has become the mainstream computing paradigm behind IoT applications. However, because large…

Cloud computing provides resources over the Internet and allows a plethora of applications to be deployed to provide services for different industries. The major bottleneck being faced currently in these cloud frameworks is their limited…

Elasticity is highly desirable for stream processing systems to guarantee low latency against workload dynamics, such as surges in data arrival rate and fluctuations in data distribution. Existing systems achieve elasticity following a…

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…

In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…

How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…