Related papers: SOTER: A Runtime Assurance Framework for Programmi…
A controller -- a software module managing hardware behavior -- is a key component of a typical robot system. While control theory gives safety guarantees for standard controller designs, the practical implementation of controllers in…
Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…
Any industrial system goes along with objectives to be met (e.g. economic performance), disturbances to handle (e.g. market fluctuations, catalyst decay, unexpected variations in uncontrolled flow rates and compositions,...), and…
Context: Modern Systems of Systems (SoSs) increasingly operate in dynamic environments (e.g., smart cities, autonomous vehicles) where runtime composition -- the on-the-fly discovery, integration, and coordination of constituent systems…
This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…
Safe learning is essential for deploying learningbased controllers in safety-critical robotic systems, yet existing approaches often enforce multiple safety constraints uniformly or via fixed priority orders, leading to infeasibility and…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Modern AI systems increasingly comprise multiple interconnected neural networks to tackle complex inference tasks. Testing such systems for robustness and safety entails significant challenges. Current state-of-the-art robustness testing…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
In the dynamic and ever-changing domain of Unmanned Aerial Vehicles (UAVs), the utmost importance lies in guaranteeing resilient and lucid security measures. This study highlights the necessity of implementing a Zero Trust Architecture…
The design of embedded safety-critical systems such as those used in next-generation automotive and autonomous platforms, is increasingly challenged by escalating system complexity, hardware-software heterogeneity, and the integration of…
Large language models possess impressive capabilities in generating programs (e.g., Python) from natural language descriptions to execute robotic tasks. However, these generated programs often contain errors that violate externally given…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Timed automata (TA) have been widely adopted as a suitable formalism to model time-critical systems. Furthermore, contemporary model-checking tools allow the designer to check whether a TA complies with a system specification. However, the…
Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which extends the well-established control barrier function (CBF)-based…
The Rational Unified Process a software engineering process is gaining popularity nowadays. RUP delivers best software practices for component software Development life cycle It supports component based software development. Risk is…
Most autonomous robotic agents use logic inference to keep themselves to safe and permitted behaviour. Given a set of rules, it is important that the robot is able to establish the consistency between its rules, its perception-based…