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Perception algorithms are ubiquitous in modern autonomy stacks, providing necessary environmental information to operate in the real world. Many of these algorithms depend on the visibility of keypoints, which must remain within the robot's…
Medical errors, defined as unintended acts either of omission or commission that cause the failure of medical actions, are the third leading cause of death in the United States. The application of autonomy and robotics can alleviate some…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…
Autonomous and Robotics Systems (ARSs) are widespread, complex, and increasingly coming into contact with the public. Many of these systems are safety-critical, and it is vital to detect software errors to protect against harm. We propose a…
Certified safe control is a growing challenge in robotics, especially when performance and safety objectives must be concurrently achieved. In this work, we extend the barrier state (BaS) concept, recently proposed for safe stabilization of…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Traditionally, promoted by the internet companies, continuous delivery is more and more appealing to industries which develop systems with safety-critical functions. Since safety-critical systems must meet regulatory requirements and…
This paper provides a perspective on the literature and current challenges in Multi-Agent Systems for interoperable robot navigation in industry. The focus is on the multi-agent decision stack for Autonomous Mobile Robots operating in mixed…
This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the…
Modern robotic systems integrate multiple independent software and hardware components, each responsible for distinct functionalities such as perception, decision-making, and execution. These components interact extensively to accomplish…
The downstream use cases, benefits, and risks of AI models depend significantly on what sort of access is provided to the model, and who it is provided to. Though existing safety frameworks and AI developer usage policies recognise that the…
Automated Driving Systems (ADS) hold great potential to increase safety, mobility, and equity. However, without public acceptance, none of these promises can be fulfilled. To engender public trust, many entities in the ADS community…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
The increasing number of connected devices and the complexity of Internet of Things (IoT) ecosystems are demanding new architectures for managing and securing these networked environments. Intrusion Detection Systems (IDS) are security…
As software becomes increasingly pervasive in critical domains like autonomous driving, new challenges arise, necessitating rethinking of system engineering approaches. The gradual takeover of all critical driving functions by autonomous…
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…
Autonomous systems are often deployed in complex sociotechnical environments, such as public roads, where they must behave safely and securely. Unlike many traditionally engineered systems, autonomous systems are expected to behave…
Software vulnerabilities remain a significant risk factor in achieving security objectives within software development organizations. This is especially true where either proprietary or open-source software (OSS) is included in the…
We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement -- in addition to collision…