Related papers: SOTER: A Runtime Assurance Framework for Programmi…
Autonomous and robotic systems are increasingly being trusted with sensitive activities with potentially serious consequences if that trust is broken. Runtime verification techniques present a natural source of inspiration for monitoring…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Each new concept of operation and equipment generation in aviation becomes more automated, integrated and interconnected. In the case of Unmanned Aircraft Systems (UAS), this evolution allows drastically decreasing aircraft weight and…
This paper presents the design and validation of a retrieval-based assistant that supports safety assessment, certification activities, and regulatory compliance for unmanned aircraft systems. The work is motivated by the growing complexity…
Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact events, which limit robustness and…
We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Robotic systems are complex and safety-critical software systems. As such, they need to be tested thoroughly. Unfortunately, robot software is intrinsically hard to test compared to traditional software, mainly since the software needs to…
Embedded devices face an ever-expanding threat landscape: vulnerabilities in application software, operating system kernels, and peripherals threaten the embedded device integrity. Existing computer-architectural defenses fully consider at…
While the adoption of Service-Oriented Architectures (SOA) eases the implementation of features such as autonomous driving and over-the-air updates, it also increases the vehicle's exposure to attacks that may place road-users in harm. To…
Runtime enforcement refers to the theories, techniques, and tools for enforcing correct behavior with respect to a formal specification of systems at runtime. In this paper, we are interested in techniques for constructing runtime enforcers…
Large language models (LLMs) demonstrate remarkable performance across diverse tasks, yet their effectiveness frequently depends on costly commercial APIs or cloud services. Model selection thus entails a critical trade-off between…
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…
Modern intelligent systems researchers employ the scientific method: they form hypotheses about system behavior, and then run experiments using one or more independent variables to test their hypotheses. We present SIERRA, a novel framework…
The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact), but not interactive…
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a…
Despite being a hot research topic for a decade, drones are still not part of our everyday life. In this article, we analyze the reasons for this state of affairs and look for ways of improving the situation. We rely on the achievements of…
Although an ever-growing number of applications employ deep learning based systems for prediction, decision-making, or state estimation, almost no certification processes have been established that would allow such systems to be deployed in…
Most recent software related accidents have been system accidents. To validate the absence of system hazards concerning dysfunctional interactions, industrials call for approaches of modeling system safety requirements and interaction…
Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…