174 citations · 237 across the 20 of their papers we have counts for
6 papers · 2 filters
A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms
Koresh Khateri, Karthik Soma, Mahdi Pourgholi +3
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology…
Analyze, Debug, Optimize: Real-Time Tracing for Perception and Mapping Systems in ROS 2
Pierre-Yves Lajoie, Christophe Bédard, Giovanni Beltrame
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization…
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface
Marcel Kaufmann, Robert Trybula, Ryan Stonebraker +6
Real-world deployment of new technology and capabilities can be daunting. The recent DARPA Subterranean (SubT) Challenge, for instance, aimed at the advancement of robotic platform…
Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems
Christophe Bédard, Pierre-Yves Lajoie, Giovanni Beltrame +1
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to eff…
Hierarchical Control of Smart Particle Swarms
Vivek Shankar Varadharajan, Sepand Dyanatkar, Giovanni Beltrame
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple l…
RASS: Risk-Aware Swarm Storage
Samuel Arseneault, David Vielfaure, Giovanni Beltrame
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natura…