相关论文: Automatic Extraction of Time-windowed ROS Computat…

This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment…

The dynamic nature of resource allocation and runtime conditions on Cloud can result in high variability in a job's runtime across multiple iterations, leading to a poor experience. Identifying the sources of such variation and being able…

The increasing impact of robotics on industry and on society will unavoidably lead to the involvement of robots in incidents and mishaps. In such cases, forensic analyses are key techniques to provide useful evidence on what happened, and…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

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…

The bug growth pattern prediction is a complicated, unrelieved task, which needs considerable attention. Advance knowledge of the likely number of bugs discovered in the software system helps software developers in designating sufficient…

Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…

The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous…

Dynamic program slicing can significantly reduce the code developers need to inspect by narrowing it down to only a subset of relevant program statements. However, despite an extensive body of research showing its usefulness, dynamic…

Modern real-time systems require accurate characterization of task timing behavior to ensure predictable performance, particularly on complex hardware architectures. Existing methods, such as worst-case execution time analysis, often fail…

When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…

This work is motivated by the ECMWF CAMS reanalysis data, a valuable resource for researchers in environmental-related areas, as they contain the most updated atmospheric composition information on a global scale. Unlike observational data…

ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…

Robots deployed in dynamic environments must contend with environment-driven changes that reshape computation at runtime: new tasks may appear, precedence relations can shift, and overall workload structure evolves, all of which degrade…

Modern Cyber-Physical Systems (CPS) often exhibit both relaxed real-time constraints and a mode-dependent execution. Relaxed real-time constraints mean that only a subset of the processes of a CPS have real-time constraints, and a…

Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…

Mobile robots extract information from its environment to understand their current situation to enable intelligent decision making and autonomous task execution. In our previous work, we introduced the concept of Situation Graphs (S-Graphs)…

Static analysis of real-world programs combines flow- and context-sensitive analyses of local program states with computation of flow- and context-insensitive invariants at globals, that, e.g., abstract data shared by multiple threads. The…

Extracting polygonal roofs and footprints from remote sensing images is critical for large-scale urban analysis. Most existing methods rely on segmentation-based models that assume clear semantic boundaries of roofs, but these approaches…

In large programming classes, it takes a significant effort from teachers to evaluate exercises and provide detailed feedback. In systems programming, test cases are not sufficient to assess exercises, since concurrency and resource…