Related papers: SOTER: A Runtime Assurance Framework for Programmi…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
Run Time Assurance (RTA) Systems are online verification mechanisms that filter an unverified primary controller output to ensure system safety. The primary control may come from a human operator, an advanced control approach, or an…
Runtime assurance (RTA) addresses the problem of keeping an autonomous system safe while using an untrusted (or experimental) controller. This can be done via logic that explicitly switches between the untrusted controller and a safety…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
With the rise of increasingly complex autonomous systems powered by black box AI models, there is a growing need for Run Time Assurance (RTA) systems that provide online safety filtering to untrusted primary controller output. Currently,…
As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary…
Run Time Assurance (RTA) systems are online safety verification techniques that filter the output of a primary controller to assure safety. RTA approaches are used in safety-critical control to intervene when a performance-driven primary…
A fundamental capability for On-orbit Servicing, Assembly, and Manufacturing (OSAM) is inspection of the vehicle to be serviced, or the structure being assembled. This research assumes autonomous slewing to maintain situational awareness of…
The airworthiness and safety of a non-pedigreed autopilot must be verified, but the cost to formally do so can be prohibitive. We can bypass formal verification of non-pedigreed components by incorporating Runtime Safety Assurance (RTSA) as…
Cyber-physical systems (CPSes), such as autonomous vehicles, use sophisticated components like ML-based controllers. It is difficult to provide evidence about the safe functioning of such components. To overcome this problem, Runtime…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
Autonomous Robotics Systems are inherently safety-critical and have complex safety issues to consider (for example, a safety failure can lead to a safety failure). Before they are deployed, these systems of have to show evidence that they…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
Recent advances in artificial intelligence and machine learning may soon yield paradigm-shifting benefits for aerospace systems. However, complexity and possible continued on-line learning makes neural network control systems (NNCS)…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System…
Widespread adoption of autonomous cars will require greater confidence in their safety than is currently possible. Certified control is a new safety architecture whose goal is two-fold: to achieve a very high level of safety, and to provide…