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In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…
Autonomous Robotics Systems are inherently safety-critical and have complex safety issues to consider (for example, a safety failure can lead to a safety failure). Before they are deployed, these systems of have to show evidence that they…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
Simulating hostile attacks of physical autonomous systems can be a useful tool to examine their robustness to attack and inform vulnerability-aware design. In this work, we examine this through the lens of multi-robot patrol, by presenting…
Offensive Robot Cybersecurity introduces a groundbreaking approach by advocating for offensive security methods empowered by means of automation. It emphasizes the necessity of understanding attackers' tactics and identifying…
Multi-modal 3D object detectors are dedicated to exploring secure and reliable perception systems for autonomous driving (AD).Although achieving state-of-the-art (SOTA) performance on clean benchmark datasets, they tend to overlook the…
Humans are capable of learning a new behavior by observing others to perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more…
Smart contract transactions are increasingly interleaved by cross-contract calls. While many tools have been developed to identify a common set of vulnerabilities, the cross-contract vulnerability is overlooked by existing tools.…
This paper introduces the notion of danger awareness in the context of Human-Robot Interaction (HRI), which decodes whether a human is aware of the existence of the robot, and illuminates whether the human is willing to engage in enforcing…
AI-driven semi-autonomous robotic surgery is essential for addressing the medical challenges of long-duration interplanetary missions, where limited crew sizes and communication delays restrict traditional surgical approaches. Current…
In this paper, the current state of security in robotics is described to be in need of review. When we consider safety mechanisms implemented in an Internet-connected robot, the requirement of safety becomes a crucial security requirement.…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Robot navigation in human semi-static and crowded environments can lead to the freezing problem, where the robot can not move due to the presence of humans standing on its path and no other path is available. Classical approaches of robot…
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control…
Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility…