相关论文: FogROS2-FT: Fault Tolerant Cloud Robotics
Applications such as web search and social networking have been moving from centralized to decentralized cloud architectures to improve their scalability. MapReduce, a programming framework for processing large amounts of data using…
In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, which require explicit identification of malfunctioning…
Fog Computing is now emerging as the dominating paradigm bridging the compute and connectivity gap between sensing devices (a.k.a. "things") and latency-sensitive services. However, as fog deployments scale by accumulating numerous devices…
Internet of Things (IoT) has already proven to be the building block for next-generation Cyber-Physical Systems (CPSs). The considerable amount of data generated by the IoT devices needs latency-sensitive processing, which is not feasible…
Federated learning (FL) is capable of performing large distributed machine learning tasks across multiple edge users by periodically aggregating trained local parameters. To address key challenges of enabling FL over a wireless fog-cloud…
Industrial Cyber-Physical Systems (ICPS) technologies are foundational in driving maritime autonomy, particularly for Unmanned Surface Vehicles (USVs). However, onboard computational constraints and communication latency significantly…
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…
Robotic applications nowadays are widely adopted to enhance operational automation and performance of real-world Cyber-Physical Systems (CPSs) including Industry 4.0, agriculture, healthcare, and disaster management. These applications are…
FP-Growth algorithm is a Frequent Pattern Min- ing (FPM) algorithm that has been extensively used to study correlations and patterns in large scale datasets. While several researchers have designed distributed memory FP-Growth algorithms,…
Building around the idea of a large scale server infrastructure with a potentially large number of tailored resources, which are capable of interacting to facilitate the deployment, adaptation, and support of services, cloud computing needs…
The broad development and usage of edge devices has highlighted the importance of creating resilient and computationally advanced environments. When working with edge devices these desiderata are usually achieved through replication and…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
We introduce OpenBot-Fleet, a comprehensive open-source cloud robotics system for navigation. OpenBot-Fleet uses smartphones for sensing, local compute and communication, Google Firebase for secure cloud storage and off-board compute, and a…
Offloading computationally expensive algorithms to the edge or even cloud offers an attractive option to tackle limitations regarding on-board computational and energy resources of robotic systems. In cloud-native applications deployed with…
The transformation to smart factories and the automation of mobile robotics is partly driven by a growing availability of ubiquitous cloud technologies. In cyber-physical systems, such as control systems, critical parts can be migrated to a…
Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly…
Fault tolerance in multi-core architecture has attracted attention of research community for the past 20 years. Rapid improvements in the CMOS technology resulted in exponential growth of transistor density. It resulted in increased…
Quantum error correction is an essential component for practical quantum computing on noisy quantum hardware. However, logical operations on error-corrected qubits require a significant resource overhead, especially for high-precision and…
Cloud-based serverless computing systems, either public or privately provisioned, aim to provide the illusion of infinite resources and abstract users from details of the allocation decisions. With the goal of providing a low cost and a…
Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…