相关论文: Mapping and Optimizing Communication in ROS 2-base…

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…

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…

Autoware is an autonomous driving system implemented on Robot Operation System (ROS) 2, where an end-to-end timing guarantee is crucial to ensure safety. However, existing ROS 2 cause-effect chain models for analyzing end-to-end latency…

Large-scale graph processing has drawn great attention in recent years. Most of the modern-day datacenter workloads can be represented in the form of Graph Processing such as MapReduce etc. Consequently, a lot of designs for Domain-Specific…

In this paper, we use a reconfigurable intelligent surface (RIS) to enhance the radar sensing and communication capabilities of a mmWave dual function radar communication system. To simultaneously localize the target and to serve the user,…

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…

Networks on Chip is a recent solution paradigm adopted to increase the performance of Multicore designs. The key idea is to interconnect various computation modules (IP cores) in a network fashion and transport packets simultaneously across…

SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…

A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…

Perfect synchronization in distributed machine learning problems is inefficient and even impossible due to the existence of latency, package losses and stragglers. We propose a Robust Fully-Asynchronous Stochastic Gradient Tracking method…

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…

With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…

There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…

Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…

Reconfigurable intelligent surface (RIS) is considered as a promising solution for next-generation wireless communication networks due to a variety of merits, e.g., customizing the communication environment. Therefore, deploying multiple…

In the future 6G and wireless networks, particularly in dense urban environments, bandwidth exhaustion and limited capacity pose significant challenges to enhancing data rates. We introduce a novel system model designed to improve the data…

In this paper we present our work with the Pepper robot, a service robot from SoftBank Robotics. We had two main goals in this work: improving the autonomy of this robot by increasing its awareness of the environment; and enhance the robot…

The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…

Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way.…

Reconfigurable intelligent surfaces (RISs) assist in paving the way for the evolution of conventional vehicular networks to autonomous driving. Having said that, the 3rd Generation Partnership Project (3GPP) faces numerous open challenges…