Related papers: Secure Trajectory Planning Against Undetectable Sp…
Since humans and robots are increasingly sharing portions of their operational spaces, experimental evidence is needed to ascertain the safety and social acceptability of robots in human-populated environments. Although several studies have…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
Global Navigation Satellite Systems (GNSS) are integrated into many devices. However, civilian GNSS signals are usually not cryptographically protected. This makes attacks that forge signals relatively easy. Considering modern devices often…
As more attention is paid to security in the context of control systems and as attacks occur to real control systems throughout the world, it has become clear that some of the most nefarious attacks are those that evade detection. The term…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Trajectory prediction is a key element of autonomous vehicle systems, enabling them to anticipate and react to the movements of other road users. Evaluating the robustness of prediction models against adversarial attacks is essential to…
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…
Robotic exploration or monitoring missions require mobile robots to autonomously and safely navigate between multiple target locations in potentially challenging environments. Currently, this type of multi-goal mission often relies on…
Autonomous vehicles (AVs) rely on the Global Positioning System (GPS) or Global Navigation Satellite Systems (GNSS) for precise (Positioning, Navigation, and Timing) PNT solutions. However, the vulnerability of GPS signals to intentional…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is…
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not…
Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…
In this paper, we introduce a robust sensor design framework to provide "persuasion-based" defense in stochastic control systems against an unknown type attacker with a control objective exclusive to its type. For effective control, such an…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…