相关论文: Meta-ROS: A Next-Generation Middleware Architectur…

We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…

Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…

Automated Driving Systems (ADS) have rapidly evolved in recent years and their architecture becomes sophisticated. Ensuring robustness, reliability and safety of performance is particularly important. The main challenge in building an ADS…

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…

Ensuring safety in high-speed autonomous vehicles requires rapid control loops and tightly bounded delays from perception to actuation. Many open-source autonomy systems rely on ROS 2 middleware; when multiple sensor and control nodes share…

The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past…

This article introduces a comprehensive metaverse framework, which is designed for the simulation, emulation, and interaction with wireless systems. The proposed framework integrates core metaverse technologies such as extended reality…

This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…

Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols.…

We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering…

The automotive industry is currently undergoing a major transformation with respect to the Electric/Electronic (E/E) and software architecture, driven by a significant increase in the complexity of the technological stack within a vehicle.…

Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed,…

The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…

Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…

The increasing demand for Internet of Things (IoT) applications has accelerated the need for robust resource allocation in sixth-generation (6G) networks. In this paper, we propose a reconfigurable intelligent surface (RIS)-assisted upper…

This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS)…

In this study, we evaluate the performance of current automotive communication middlewares under various operating conditions. Specifically, we examine FastDDS, a widely used open-source middleware, the newly developed Zenoh middleware, and…

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.…

This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…