Related papers: Coverage-Driven Verification - An approach to veri…
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…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
In a pandemic contact between humans needs to be avoided wherever possible. Robots can take over an increasing number of tasks to protect people from being exposed to others. One such task is the disinfection of environments in which…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
This paper introduces a compound vision system that enables robots to localize people up to 15m away using a cheap camera. And, it proposes a robust navigation stack that combines Deep Reinforcement Learning (DRL) and a probabilistic…
In the past decades, a variety of haptic devices have been developed to facilitate high-fidelity human-computer interaction (HCI) in virtual reality (VR). In particular, passive haptic feedback can create a compelling sensation based on…
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable.…
Constrained random test generation is one of the most widely adopted methods for generating stimuli for simulation-based verification. Randomness leads to test diversity, but tests tend to repeatedly exercise the same design logic.…
The connected vehicle (CV) system promises unprecedented safety, mobility, environmental, economic and social benefits, which can be unlocked using the enormous amount of data shared between vehicles and infrastructure (e.g., traffic…
CCTV-based surveillance using unmanned aerial vehicles (UAVs) is considered a key technology for security in smart city environments. This paper creates a case where the UAVs with CCTV-cameras fly over the city area for flexible and…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
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…
There are many widely used tools for measuring test-coverage and code-coverage. Test coverage is the ratio of requirements or other non-code artifacts covered by a test suite, while code-coverage is the ratio of source code covered by…
As Deep Learning (DL) models are increasingly applied in safety-critical domains, ensuring their quality has emerged as a pressing challenge in modern software engineering. Among emerging validation paradigms, coverage-guided testing (CGT)…
This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…
Autonomous systems use independent decision-making with only limited human intervention to accomplish goals in complex and unpredictable environments. As the autonomy technologies that underpin them continue to advance, these systems will…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
We present a reusable formally verified safety net that provides end-to-end safety and liveness guarantees for 2D waypoint-following of Dubins-type ground robots with tolerances and acceleration. We: i) Model a robot in differential dynamic…
We present CODEV, a Matlab-based tool for verifying systems employing Model Predictive Control (MPC). The MPC solution is computed offline and modeled together with the physical system as a hybrid automaton, whose continuous dynamics may be…