Related papers: Cyber-Physical Interference Modeling for Predictab…
In times of Industry 4.0 and cyber-physical systems (CPS) providing security is one of the biggest challenges. A cyber attack launched at a CPS poses a huge threat, since a security incident may affect both the cyber and the physical world.…
Applications enabled by Cooperative Intelligent Transport Systems (C-ITS) represent a major step towards making the road transport system safer and more efficient (green), and thus suited for a sustainable future. Wireless communication…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Collaborative Perception (CP) has been a promising solution to address occlusions in the traffic environment by sharing sensor data among collaborative vehicles (CoV) via vehicle-to-everything (V2X) network. With limited wireless bandwidth,…
Integrated sensing, communication, and computation (ISCC) is emerging as a unified design paradigm for future vehicular networks that require joint environment perception, safety-critical information exchange, and latency-sensitive task…
This article explores natural interaction modalities for human-cyber-physical systems (CPS) interaction in construction. CPS has been applied in construction for many purposes with the promise of improving the safety and productivity of…
Inspired by recent work on neural subspaces and mode connectivity, we revisit parameter subspace sampling for shifted and/or interpolatable input distributions (instead of a single, unshifted distribution). We enforce a compressed geometric…
Complex, interconnected Cyber-physical Systems (CPS) are increasingly common in applications including smart grids and transportation. Ensuring safety of interconnected systems whose dynamics are coupled is challenging because the effects…
Due to major breakthroughs in software and engineering technologies, embedded systems are increasingly being utilized in areas ranging from aerospace and next-generation transportation systems, to smart grid and smart cities, to health care…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
Machine learning components such as deep neural networks are used extensively in Cyber-Physical Systems (CPS). However, such components may introduce new types of hazards that can have disastrous consequences and need to be addressed for…
In an increasingly interconnected world, Cyber-Physical Systems (CPS) are essential to critical industries like healthcare, transportation, and manufacturing, merging physical processes with computational intelligence. However, the security…
Cyber-physical systems (CPSs) are part of most critical infrastructures such as industrial automation and transportation systems. Thus, security incidents targeting CPSs can have disruptive consequences to assets and people. As prior…
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
Cooperative Intelligent Transportation Systems (C-ITS) constitute technologies which enable vehicles to communicate with each other and with road infrastructure. Verification or testing is required for C-ITS applications, in order to assess…
A resilient multi-vehicle system cooperatively performs tasks by exchanging information, detecting, and removing cyber attacks that have the intent of hijacking or diminishing performance of the entire system. In this paper, we propose a…
Coordination recognition and subtle pattern prediction of future trajectories play a significant role when modeling interactive behaviors of multiple agents. Due to the essential property of uncertainty in the future evolution,…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…