相关论文: ElasticROS: An Elastically Collaborative Robot Ope…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
Today's robotic systems are increasingly turning to computationally expensive models such as deep neural networks (DNNs) for tasks like localization, perception, planning, and object detection. However, resource-constrained robots, like…
Industrial Cyber-Physical Systems (ICPS) technologies are foundational in driving maritime autonomy, particularly for Unmanned Surface Vehicles (USVs). However, onboard computational constraints and communication latency significantly…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
Intelligent task placement and management of tasks in large-scale fog platforms is challenging due to the highly volatile nature of modern workload applications and sensitive user requirements of low energy consumption and response time.…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
Meeting the requirements of future services with time sensitivity and handling sudden load spikes of the services in Fog computing environments are challenging tasks due to the lack of publicly available Fog nodes and their characteristics.…
This paper develops a novel COllaborative-Online-Learning (COOL)-enabled motion control framework for multi-robot systems to avoid collision amid randomly moving obstacles whose motion distributions are partially observable through…
Fog computing is a promising computing paradigm in which IoT data can be processed near the edge to support time-sensitive applications. However, the availability of the resources in the computation device is not stable since they may not…
The increased use of deep learning (DL) in academia, government and industry has, in turn, led to the popularity of on-premise and cloud-hosted deep learning platforms, whose goals are to enable organizations utilize expensive resources…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
The evolution of smart cities demands scalable, secure, and energy-efficient architectures for real-time data processing. With the number of IoT devices expected to exceed 40 billion by 2030, traditional cloud-based systems are increasingly…
Fog computing has been advocated as an enabling technology for computationally intensive services in smart connected vehicles. Most existing works focus on analyzing the queueing and workload processing latencies associated with fog…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Robotic applications nowadays are widely adopted to enhance operational automation and performance of real-world Cyber-Physical Systems (CPSs) including Industry 4.0, agriculture, healthcare, and disaster management. These applications are…
Elasticity is a key property of cloud computing. However, elasticity is offered today at the granularity of virtual machines, which take tens of seconds to start. This is insufficient to react to load spikes and sudden failures in latency…