Related papers: Safety Controller Synthesis for Collaborative Robo…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…
This paper proposes a (control) barrier function synthesis and safety verification scheme for interconnected nonlinear systems based on assume-guarantee contracts (AGC) and sum-of-squares (SOS) techniques. It is well-known that the SOS…
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and Lyapunov functions, which represent control strategies, and…
Context: Continuous Software Engineering is increasingly adopted in highly regulated domains, raising the need for continuous compliance. Adherence to especially security regulations -- a major concern in highly regulated domains -- renders…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
In this article we design a physically-inspired model-based assist-as-needed semi-autonomous control (ASC) algorithm to address the problem of safely driving a vehicle (a power wheelchair) in an environment with static obstacles. Once…
As an important contributor to GDP growth, the construction industry is suffering from labor shortage due to population ageing, COVID-19 pandemic, and harsh environments. Considering the complexity and dynamics of construction environment,…
Complex, interconnected Cyber-physical Systems (CPS) are increasingly common in applications including smart grids and transportation. Ensuring safety of interconnected systems whose dynamics are coupled is challenging because the effects…
The steadily increasing level of automation in human-centred systems demands rigorous design methods for analysing and controlling interactions between humans and automated components, especially in safety-critical applications. The…
This paper presents a Directed Controller Synthesis (DCS) technique for discrete event systems. The DCS method explores the solution space for reactive controllers guided by a domain-independent heuristic. The heuristic is derived from an…
AI-Based Safety-Critical Systems (AI-SCS) are being increasingly deployed in the real world. These can pose a risk of harm to people and the environment. Reducing that risk is an overarching priority during development and operation. As…
The automatic synthesis of a policy through reinforcement learning (RL) from a given set of formal requirements depends on the construction of a reward signal and consists of the iterative application of many policy-improvement steps. The…
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…
Autonomous robots are projected to significantly augment the manual workforce, especially in repetitive and hazardous tasks. For a successful deployment of such robots in human environments, it is crucial to guarantee human safety.…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
This paper aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimension of such systems, an assume-guarantee contract is used to…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…
In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate…