相关论文: A Reliable and Low Latency Synchronizing Middlewar…

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…

The increased data transmission and number of devices involved in communications among distributed systems make it challenging yet significantly necessary to have an efficient and reliable networking middleware. In robotics and autonomous…

The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…

In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…

With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…

Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…

We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is…

The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…

Robotic middleware is fundamental to ensuring reliable communication among system components and is crucial for intelligent robotics, autonomous vehicles, and smart manufacturing. However, existing robotic middleware often struggles to meet…

Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…

Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…

The growth of the Internet of Things has enabled a new generation of applications, pushing computation and intelligence toward the network edge. This trend, however, exposes challenges, as the heterogeneity of devices and the complex…

Currently, there are over 14 billion IoT devices [7], and with many devices come many protocols, the main ones being MQTT and CoAP. We are interested in connecting the many diverse IoT devices to the cloud. To do so, we use the middleware…

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…

Ensuring safety in high-speed autonomous vehicles requires rapid control loops and tightly bounded delays from perception to actuation. Many open-source autonomy systems rely on ROS 2 middleware; when multiple sensor and control nodes share…

Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…

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…

Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…

The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…

This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…