相关论文: Mapping and Optimizing Communication in ROS 2-base…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
The field of autonomous vehicle research is advancing rapidly, necessitating platforms that meet real-time performance, safety, and security requirements for practical deployment. AUTOSAR Adaptive Platform (AUTOSAR AP) is widely adopted in…
Traditional software development in robotics is about programming functionality in the CPU of a given robot with a pre-defined architecture and constraints. With adaptive computing, instead, building a robotic behavior is about programming…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
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…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
In this paper, we propose a methodology for partitioning and mapping computational intensive applications in reconfigurable hardware blocks of different granularity. A generic hybrid reconfigurable architecture is considered so as the…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
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…
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…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
In this paper, we analyze the performance of a reconfigurable intelligent surface (RIS)-assisted multi-hop transmission by employing multiple RIS units to enable favorable communication for a mixed free-space optical (FSO) and…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…