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Artificial intelligence (AI) systems have become increasingly popular in many areas. Nevertheless, AI technologies are still in their developing stages, and many issues need to be addressed. Among those, the reliability of AI systems needs…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Efficient motion planning algorithms are essential in robotics. Optimizing essential parameters, such as batch size and nearest neighbor selection in sampling-based methods, can enhance performance in the planning process. However, existing…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
We provide a rigorous framework for handling uncertainty in quantitative fault tree analysis based on fuzzy theory. We show that any algorithm for fault tree unreliability analysis can be adapted to this framework in a fully general and…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…
The increasing deployment of advanced digital technologies such as Internet of Things (IoT) devices and Cyber-Physical Systems (CPS) in industrial environments is enabling the productive use of machine learning (ML) algorithms in the…
Engineering and applied sciences use models of increasing complexity to simulate the behaviour of manufactured and physical systems. Propagation of uncertainties from the input to a response quantity of interest through such models may…
Control systems behavior can be analyzed taking into account a large number of parameters: performances, reliability, availability, security. Each control system presents various security vulnerabilities that affect in lower or higher…
In this paper, we introduce a probabilistic approach to risk assessment of robot systems by focusing on the impact of uncertainties. While various approaches to identifying systematic hazards (e.g., bugs, design flaws, etc.) can be found in…
Cyber-physical systems come with increasingly complex architectures and failure modes, which complicates the task of obtaining accurate system reliability models. At the same time, with the emergence of the (industrial) Internet-of-Things,…
This paper addresses the use of data-driven evolving techniques applied to fault prognostics. In such problems, accurate predictions of multiple steps ahead are essential for the Remaining Useful Life (RUL) estimation of a given asset. The…
Industrial robots are important machines applied in numerous modern industries that execute repetitive tasks with high accuracy, replacing or supporting dangerous jobs. In this kind of system, with increased complexity in which cost is…
The future Fifth Generation (5G) mobile cellular networks that are currently in research phase today enable broad range of services/applications beyond classical mobile communications. One key enabler for Ultra-Reliable services to be…
Trustworthiness especially for service oriented system is very important topic now a day in IT field of the whole world. Certain Trust Model depends on some certain values given by experts and developers. Here, main parameters for…
Reliable corner detection is an important task in determining the shape of different regions within an image. Real-life image data are always imprecise due to inherent uncertainties that may arise from the imaging process such as…
It has been suggested that, when faced with large amounts of uncertainty in situations of automated control, type-2 fuzzy logic based controllers will out-perform the simpler type-1 varieties due to the latter lacking the flexibility to…
This paper surveys the area of Trust Metrics related to security for autonomous robotic systems. As the robotics industry undergoes a transformation from programmed, task oriented, systems to Artificial Intelligence-enabled learning, these…
Robust control is a core approach for controlling systems with performance guarantees that are robust to modeling error, and is widely used in real-world systems. However, current robust control approaches can only handle small system…