Related papers: Safety Controller Synthesis for Collaborative Robo…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human…
In this paper, we present how to synthesize controllers to enforce $\omega$-regular properties over linear control systems affected by bounded disturbances. In particular, these controllers are synthesized based on so-called hybrid…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies for these systems. This paper aims to address a few…
Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…
In many synthesis problems, it can be essential to generate implementations which not only satisfy functional constraints but are also randomized to improve variety, robustness, or unpredictability. The recently-proposed framework of…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
As assistive and collaborative robots become more ubiquitous in the real-world, we need to develop interfaces and controllers that are safe for users to build trust and encourage adoption. In this Blue Sky paper, we discuss the need for…
Hardware synthesis is a general term used to refer to the processes involved in automatically generating a hardware design from its specification. High-level synthesis (HLS) could be defined as the translation from a behavioral description…
This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview…
The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact), but not interactive…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three…
The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require avoidance of certain regions, while others require convergence…
Finite-state controllers (FSCs), such as plans with loops, are powerful and compact representations of action selection widely used in robotics, video games and logistics. There has been steady progress on synthesizing FSCs in deterministic…
In causal inference with observational studies, synthetic control (SC) has emerged as a prominent tool. SC has traditionally been applied to aggregate-level datasets, but more recent work has extended its use to individual-level data. As…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a…