相关论文: FogROS G: Enabling Secure, Connected and Mobile Fo…
In industrial applications, security and trust in the system are requirements for widespread adoption. Blockchain technologies have emerged as a potential solution to address identity management and secure data aggregation and control.…
Robot Operating System 2 (ROS 2) relies on the Data Distribution Service (DDS), which offers more than 20 Quality of Service (QoS) policies governing availability, reliability, and resource usage. Yet ROS 2 users lack clear guidance on safe…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
In the autonomous vehicle and self-driving paradigm, cooperative perception or exchanging sensor information among vehicles over wireless communication has added a new dimension. Generally, an autonomous vehicle is a special type of robot…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Innovative solutions to cyber security issues are shaped by the ever-changing landscape of cyber threats. Automating the mitigation of these threats can be achieved through a new methodology that addresses the domain of mitigation…
Palm-sized nano-drones are an appealing class of edge nodes, but their limited computational resources prevent running large deep-learning models onboard. Adopting an edge-fog computational paradigm, we can offload part of the computation…
Autonomous driving is expected to provide a range of far-reaching economic, environmental and safety benefits. In this study, we propose a fog computing based framework to assist autonomous driving. Our framework relies on overhead views…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
The fog radio access network (F-RAN) is a promising technology in which the user mobile devices (MDs) can offload computation tasks to the nearby fog access points (F-APs). Due to the limited resource of F-APs, it is important to design an…
Deploying autonomous robots in safety-critical domains requires architectures that ensure operational effectiveness and safety compliance. In this paper, we contribute the Safe-ROS architecture for developing reliable and verifiable…
Robots have inherently limited onboard processing, storage, and power capabilities. Cloud computing resources have the potential to provide significant advantages for robots in many applications. However, to make use of these resources,…
We propose a novel integrated fog cloud IoT (IFCIoT) architectural paradigm that promises increased performance, energy efficiency, reduced latency, quicker response time, scalability, and better localized accuracy for future IoT…
Through connecting intelligent vehicles as well as the roadside infrastructure, the perception range of vehicles can be significantly extended, and hidden objects at blind spots can be efficiently detected and avoided. To realize this,…
Fog and Edge computing extend cloud services to the proximity of end users, allowing many Internet of Things (IoT) use cases, particularly latency-critical applications. Smart devices, such as traffic and surveillance cameras, often do not…
Robot apps are becoming more automated, complex and diverse. An app usually consists of many functions, interacting with each other and the environment. This allows robots to conduct various tasks. However, it also opens a new door for…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…