Related papers: Modeling System Safety Requirements Using Input/Ou…
We survey the state-of-the-art on model-based formalisms for safety and security joint analysis, where safety refers to the absence of unintended failures, and security to absence of malicious attacks. We conduct a thorough literature…
The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Enforcing safety for dynamical systems is challenging, since it requires constraint satisfaction along trajectory predictions. Equivalent control constraints can be computed in the form of sets that enforce positive invariance, and can thus…
This paper describes the comprehensive safety framework that underpinned the development, release process, and regulatory approval of BMW's first SAE Level 3 Automated Driving System. The framework combines established qualitative and…
Inspired by the increased cooperation between humans and autonomous systems, we present a new hybrid systems framework capturing the interconnected dynamics underlying these interactions. The framework accommodates models arising from both…
The prediction quality of machine learnt models and the functionality they ultimately enable (e.g., object detection), is typically evaluated using a variety of quantitative metrics that are specified in the associated model performance…
A key goal of the System-Theoretic Process Analysis (STPA) hazard analysis technique is the identification of loss scenarios - causal factors that could potentially lead to an accident. We propose an approach that aims to assist engineers…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Ensuring the safety and efficacy of Cyber-Physical Systems (CPSs) is challenging due to the large variability of their operating environment. Model checking has been proposed for validation of CPSs, but the models of the environment are…
By exploiting the increasing surface attack of systems, cyber-attacks can cause catastrophic events, such as, remotely disable safety mechanisms. This means that in order to avoid hazards, safety and security need to be integrated,…
Safety constraints are crucial to the development of mission-critical systems. The practice of developing software for systems of this type requires reliable methods for identifying and analysing project artefacts. This paper proposes a…
Mobile robotic systems are increasingly used in various work environments to support productivity. However, deploying robots in workplaces crowded by human workers and interacting with them results in safety challenges and concerns, namely…
Ensuring safety for human-interactive robotics is important due to the potential for human injury. The key challenge is defining safety in a way that accounts for the complex range of human behaviors without modeling the human as an…
We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in…
An outstanding challenge with safety methods for human-robot interaction is reducing their conservatism while maintaining robustness to variations in human behavior. In this work, we propose that robots use confidence-aware game-theoretic…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple…