相关论文: AUTOSAR AP and ROS 2 Collaboration Framework

The automotive sector is following a revolutionary path from vehicles controlled by humans to vehicles that will be fully automated, fully connected, and ultimately fully cooperative. Along this road, new cooperative algorithms and…

Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in which fragmented and monolithic designs…

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…

There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…

Although many research vehicle platforms for autonomous driving have been built in the past, hardware design, source code and lessons learned have not been made available for the next generation of demonstrators. This raises the efforts for…

Societal-scale deployment of autonomous vehicles requires them to coexist with human drivers, necessitating mutual understanding and coordination among these entities. However, purely real-world or simulation-based experiments cannot be…

Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few…

Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…

The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…

Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…

As the demand of astronomical observation rising, the telescope systems are becoming more and more complex. Thus, the observatory control software needs to be more intelligent, they have to control each instrument inside the observatory,…

This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…

Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…

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…

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…

Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…

Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate…

Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and…

In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…

Automated Driving Systems (ADS) hold great potential to increase safety, mobility, and equity. However, without public acceptance, none of these promises can be fulfilled. To engender public trust, many entities in the ADS community…