相关论文: Meta-ROS: A Next-Generation Middleware Architectur…
In software-defined vehicles, automotive middleware plays a fundamental role in enabling efficient communication, integration, and coordination among software components. This paper examines how well two of the currently most popular…
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…
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are…
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…
We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both…
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity,…
The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. The…
Robot applications, comprising independent components that mutually publish/subscribe messages, are built on inter-process communication (IPC) middleware such as Robot Operating System 2 (ROS 2). In large-scale ROS 2 systems like autonomous…
Robotic datasets are important for scientific benchmarking and developing algorithms, for example for Simultaneous Localization and Mapping (SLAM). Modern robotic datasets feature video data of high resolution and high framerates. Storing…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
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…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control…