相关论文: FogROS2-FT: Fault Tolerant Cloud Robotics
Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…
With the rapid evolution of Large Language Models (LLMs) and their large-scale experimentation in cloud-computing spaces, the challenge of guaranteeing their security and efficiency in a failure scenario has become a main issue. To ensure…
Cloud robotics is a field of robotics that attempts to invoke Cloud technologies such as Cloud computing, Cloud storage, and other Internet technologies centered around the benefits of converged infrastructure and shared services for…
Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…
With the steady advance of high performance computing systems featuring smaller and smaller hardware components, the systems and algorithms used for numerical simulations increasingly contend with disruptions caused by hardware failures and…
Quantum computation holds the promise of solving certain complex problems exponentially faster than classical computers. However, the high prevalent noise in current quantum devices impedes the accurate execution of even basic algorithms.…
Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
Federated Learning (FL) enables multiple clients to collaboratively train a shared model without exposing local data. However, backdoor attacks pose a significant threat to FL. These attacks aim to implant a stealthy trigger into the global…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Object reconstruction from 3D point clouds has been a long-standing research problem in computer vision and computer graphics, and achieved impressive progress. However, reconstruction from time-varying point clouds (a.k.a. 4D point clouds)…
Fault-tolerant complexes describe surface-code fault-tolerant protocols from a single geometric object. We first introduce fusion complexes that define a general family of fusion-based quantum computing (FBQC) fault-tolerant quantum…
Swarm intelligence is being increasingly deployed in autonomous systems, such as drones and unmanned vehicles. Federated reinforcement learning (FRL), a key swarm intelligence paradigm where agents interact with their own environments and…
In this chapter we discuss the problem of master failure in ROS1.0 and its impact on robotic deployments in the real world. We address this issue in this tutorial chapter where we outline, design and demonstrate a fault tolerant mechanism…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
Enterprise network traffic typically traverses a sequence of middleboxes forming a service function chain, or simply a chain. Tolerating failures when they occur along chains is imperative to the availability and reliability of enterprise…
Recently, to deliver services directly to the network edge, fog computing, an emerging and developing technology, acts as a layer between the cloud and the IoT worlds. The cloud or fog computing nodes could be selected by IoTs applications…
LiDARs are widely used in autonomous robots due to their ability to provide accurate environment structural information. However, the large size of point clouds poses challenges in terms of data storage and transmission. In this paper, we…
Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…