Related papers: Towards Declarative Safety Rules for Perception Sp…
Agricultural robots have emerged as powerful members in agricultural tasks, nevertheless, still heavily rely on manual operation or untransportable railway for movement, resulting in limited mobility and poor adaptability.…
Vision-based formation control systems are attractive because they can use inexpensive sensors and can work in GPS-denied environments. The safety assurance for such systems is challenging: the vision component's accuracy depends on the…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Autonomous robots that rely on deep neural network controllers pose critical challenges for safety prediction, especially under partial observability and distribution shift. Traditional model-based verification techniques are limited in…
Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…
Camera parameters not only play an important role in determining the visual quality of perceived images, but also affect the performance of vision algorithms, for a vision-guided robot. By quantitatively evaluating four object detection…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
Agricultural robots have the prospect to enable more efficient and sustainable agricultural production of food, feed, and fiber. Perception of crops and weeds is a central component of agricultural robots that aim to monitor fields and…
As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…
Autonomous robots navigating in changing environments demand adaptive navigation strategies for safe long-term operation. While many modern control paradigms offer theoretical guarantees, they often assume known extrinsic safety…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a…
In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…
Power lines are dangerous for low-flying aircraft, especially in low-visibility conditions. Thus, a vision-based system able to analyze the aircraft's surroundings and to provide the pilots with a "second pair of eyes" can contribute to…
Inspection and maintenance are two crucial aspects of industrial pipeline plants. While robotics has made tremendous progress in the mechanic design of in-pipe inspection robots, the autonomous control of such robots is still a big open…
The identification and removal of systematic errors in object detectors can be a prerequisite for their deployment in safety-critical applications like automated driving and robotics. Such systematic errors can for instance occur under very…
The evolution of smaller, faster processors and cheaper digital storage mechanisms across the last 4-5 decades has vastly increased the opportunity to integrate intelligent technologies in a wide range of practical environments to address a…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…