Related papers: SMT-based Robot Transition Repair
Accurate detection of locomotion transitions, such as walk to sit, walk to stair ascent, and descent, is crucial to effectively control robotic assistive devices, such as lower-limb exoskeletons, as each locomotion mode requires specific…
Autonomous Driving Systems (ADSs) continue to face safety-critical risks due to the inherent limitations in their design and performance capabilities. Online repair plays a crucial role in mitigating such limitations, ensuring the runtime…
Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…
Vehicle teleoperation is an interesting feature in many fields. A typical problem of teleoperation is communication time delay which, together with actuator saturation and environmental disturbance, can cause a vehicle deviation from the…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
Self-adaptive systems (SASs) are capable of adjusting its behavior in response to meaningful changes in the operational con-text and itself. The adaptation needs to be performed automatically through self-managed reactions and…
Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and (ii) modifying the robot's behavior to…
The high probability of hardware failures prevents many advanced robots (e.g., legged robots) from being confidently deployed in real-world situations (e.g., post-disaster rescue). Instead of attempting to diagnose the failures, robots…
Electromagnetic transient (EMT) simulation is a crucial tool for power system dynamic analysis because of its detailed component modeling and high simulation accuracy. However, it suffers from computational burdens for large power grids…
In this paper, we consider the problem of deploying a robot from a specification given as a temporal logic statement about some properties satisfied by the regions of a large, partitioned environment. We assume that the robot has noisy…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each…
This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall…
This paper presents an online method that learns optimal decisions for a discrete time Markov decision problem with an opportunistic structure. The state at time $t$ is a pair $(S(t),W(t))$ where $S(t)$ takes values in a finite set…
Most robot manipulation focuses on changing the kinematic state of objects: picking, placing, opening, or rotating them. However, a wide range of real-world manipulation tasks involve a different class of object state change--such as…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…
Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Characterizing these interactions is crucial both from the…