Related papers: Towards a Science of Resilient Robotic Autonomy
This paper explores the emerging knowledge-driven autonomous driving technologies. Our investigation highlights the limitations of current autonomous driving systems, in particular their sensitivity to data bias, difficulty in handling…
Emerging applications of robotics, and concerns about their impact, require the research community to put human-centric objectives front-and-center. To meet this challenge, we advocate an interdisciplinary approach, socially cognizant…
The challenge of establishing assurance in autonomy is rapidly attracting increasing interest in the industry, government, and academia. Autonomy is a broad and expansive capability that enables systems to behave without direct control by a…
Recent research in artificial intelligence and machine learning has largely emphasized general-purpose learning and ever-larger training sets and more and more compute. In contrast, I propose a hybrid, knowledge-driven, reasoning-based…
Robots capable of performing manipulation tasks in a broad range of missions in unstructured environments can develop numerous applications to impact and enhance human life. Existing work in robot learning has shown success in applying…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
This paper studies the design of mechanisms that are robust to misspecification. We introduce a novel notion of robustness that connects a variety of disparate approaches and study its implications in a wide class of mechanism design…
There has been significant progress in sensing, perception, and localization for automated driving, However, due to the wide spectrum of traffic/road structure scenarios and the long tail distribution of human driver behavior, it has…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Open access to publication, software and hardware is central to robotics: it lowers barriers to entry, supports reproducible science and accelerates reliable system development. However, openness also exacerbates the inherent dual-use risks…
A recent study by the Robotic Industries Association has highlighted how service robots are increasingly broadening our horizons beyond the factory floor. From robotic vacuums, bomb retrievers, exoskeletons and drones, to robots used in…
Resilience broadly describes a quality of withstanding perturbations. Measures of system resilience have gathered increasing attention across applied disciplines, yet existing metrics often lack computational accessibility and…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
The discourse about sustainable technology has emerged from the acknowledgment of the environmental collapse we are facing. In this paper, we argue that addressing this crisis requires more than the development of sustainable alternatives…
Seven years ago (2016), we began integrating Robotics into our Computer Science curriculum. This paper explores the mission, initial goals and objectives, specific choices we made along the way, and why and outcomes. Of course, we were not…
Resilience is a feature that is gaining more and more attention in computer science and computer engineering. However, the definition of resilience for the cyber landscape, especially embedded systems, is not yet clear. This paper discusses…
This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…
The field of autonomous mobile robots has undergone dramatic advancements over the past decades. Despite achieving important milestones, several challenges are yet to be addressed. Aggregating the achievements of the robotic community as…