Related papers: Safety Controller Synthesis for Collaborative Robo…
Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
Control systems often need to satisfy strict safety requirements. Safety index provides a handy way to evaluate the safety level of the system and derive the resulting safe control policies. However, designing safety index functions under…
When evaluating the impact of a policy on a metric of interest, it may not be possible to conduct a randomized control trial. In settings where only observational data is available, Synthetic Control (SC) methods provide a popular…
This article presents a structured framework for Human-AI collaboration in Security Operations Centers (SOCs), integrating AI autonomy, trust calibration, and Human-in-the-loop decision making. Existing frameworks in SOCs often focus…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
The goal of logical controller synthesis is to automatically compute a control strategy that regulates the discrete, event-driven behavior of a given plant s.t. a temporal logic specification holds over all remaining traces. Standard…
Wirelessly-connected robotic systems empower robots with real-time intelligence by leveraging remote computing resources for decision-making. However, the data exchange between robots and edge servers often overwhelms communication links,…
Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…
In this paper, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
In this work, we propose a compositional scheme based on small-gain reasoning to synthesize safety controllers for interconnected stochastic hybrid systems. In our proposed setting, we first offer an augmented scheme that characterizes each…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
With the increasing ubiquity of multi-capable, general-purpose robots arises the need for enabling non-expert users to command these robots to perform complex high-level tasks. To this end, high-level robot control has seen the application…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
We present a lazy version of multi-layered abstraction-based controller synthesis (ABCS) for continuous-time nonlinear dynamical systems against safety specifications. State-of-the-art multi-layered ABCS uses pre-computed finite-state…
Ensuring safety for human-interactive robotics is important due to the potential for human injury. The key challenge is defining safety in a way that accounts for the complex range of human behaviors without modeling the human as an…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
Delay is omnipresent in modern control systems, which can prompt oscillations and may cause deterioration of control performance, invalidate both stability and safety properties. This implies that safety or stability certificates obtained…
Machine protection, as part of accelerator control systems, can be managed with a 'functional safety' approach, which takes into account product life cycle, processes, quality, industrial standards and cybersafety. This paper will discuss…