相关论文: Automatic Extraction of Time-windowed ROS Computat…
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…
This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them…
Cooperative multi-robot missions often require teams of robots to traverse environments where traversal risk evolves due to adversary patrols or shifting hazards with stochastic dynamics. While support coordination--where robots assist…
Timed systems, such as timed automata, are usually analyzed using their operational semantics on timed words. The classical region abstraction for timed automata reduces them to (untimed) finite state automata with the same time-abstract…
To enable the computation of effective randomized patrol routes for single- or multi-robot teams, we present RoSSO, a Python package designed for solving Markov chain optimization problems. We exploit machine-learning techniques such as…
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…
This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which…
Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge…
Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…
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,…
R is a popular language and programming environment for data scientists. It is increasingly co-packaged with both relational and Hadoop-based data platforms and can often be the most dominant computational component in data analytics…
Model-based development enables quicker prototyping, earlier experimentation and validation of design intents. For a multi-agent system with complex asynchronous interactions and concurrency, formal verification, model-checking in…
Software architecture often consists of interconnected components dispersed across source code and other development artifacts, making visualization difficult without costly additional documentation. Although some tools can automatically…
The increasing availability of cloud computing and scientific super computers brings great potential for making R accessible through public or shared resources. This allows us to efficiently run code requiring lots of cycles and memory, or…
Modern airborne operating systems implement the concept of robust time and resource partitioning imposed by the standards for aerospace and airborne-embedded software systems, such as ARINC 653. While these standards do provide a…
Understanding the architecture is vital for effectively maintaining and managing large software systems. However, as software systems evolve over time, their architectures inevitably change. To keep up with the change, architects need to…
The increasingly sophisticated environment in which attackers operate makes software security an even greater challenge in open-source projects, where malicious packages are prevalent. Static analysis tools, such as Malcontent, are highly…
In traditional robot behavior programming, the edit-compile-simulate-deploy-run cycle creates a large mental disconnect between program creation and eventual robot behavior. This significantly slows down behavior development because there…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…