Related papers: Secure Minimum Time Planning Under Environmental U…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
Some hybrid systems models are unsafe for mathematically correct but physically unrealistic reasons. For example, mathematical models can classify a system as being unsafe on a set that is too small to have physical importance. In…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…
The technological advancements facilitating the rapid development of cyber-physical systems (CPS) also render such systems vulnerable to cyber attacks with devastating effects. Supervisory control is a commonly used control method to…
Today's cyber physical systems (CPS) are not well protected against cyber attacks. Protected CPS often have holes in their defense, due to the manual nature of today's cyber security design process. It is necessary to automate or…
This article studies a fundamental problem of security of cyber-physical systems (CPSs): that of detecting, almost surely, the presence of malicious components in the CPS. We assume that some of the actuators may be malicious while all…
Cyber-physical systems (CPS) with reinforcement learning (RL)-based controllers are increasingly being deployed in complex physical environments such as autonomous vehicles, the Internet-of-Things(IoT), and smart cities. An important…
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 this paper, we investigate the problem of planning an optimal infinite path for a single robot to achieve a linear temporal logic (LTL) task with security guarantee. We assume that the external behavior of the robot, specified by an…
CPSs are widely used in all sorts of applications ranging from industrial automation to search-and-rescue. So far, in these applications they work either isolated with a high mobility or operate in a static networks setup. If mobile CPSs…
The security of cyber-physical systems is first and foremost a safety problem, yet it is typically handled as a traditional security problem, which means that solutions are based on defending against threats and are often implemented too…
We consider the problem of provably securing a given control loop implementation in the presence of adversarial interventions on data exchange between plant and controller. Such interventions can be thwarted using continuously operating…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
We propose a new defense mechanism against undetected infiltration into controllers in cyber-physical systems. To this end, we cautiously design the outputs of the sensors that monitor the state of the system. Different from the defense…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Cyber-physical systems (CPS) have been increasingly attacked by hackers. Recent studies have shown that CPS are especially vulnerable to insider attacks, in which case the attacker has full knowledge of the systems configuration. To better…
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…