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Cyber Security is a critical topic for organizations with IT/OT networks as they are always susceptible to attack, whether insider or outsider. Since the cyber landscape is an ever-evolving scenario, one must keep upgrading its security…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use stochastic model…
While foundation models offer promise toward improving robot safety in out-of-distribution (OOD) scenarios, how to effectively harness their generalist knowledge for real-time, dynamically feasible response remains a crucial problem. We…
Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
The study of robotic manipulators is the main goal of Industrial Robotics Class, part of Control Engineers training course. There is a difficulty in preparing academic practices and projects in the area of robotics due to the high cost of…
Hybrid systems are integrations of discrete computation and continuous physical evolution. The physical components of such systems introduce safety requirements, the achievement of which asks for the correct monitoring and control from the…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
Embedded devices face an ever-expanding threat landscape: vulnerabilities in application software, operating system kernels, and peripherals threaten the embedded device integrity. Existing computer-architectural defenses fully consider at…
The wide use of robotic systems contributed to developing robotic software highly coupled to the hardware platform running the robotic system. Due to increased maintenance cost or changing business priorities, the robotic hardware is…
Rust is an emergent systems programming language highlighting memory safety by its Ownership and Borrowing System (OBS). The existing formal semantics for Rust only covers limited subsets of the major language features of Rust. Moreover,…
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling…
The coordinated assurance of interrelated critical properties, such as system safety and cyber-security, is one of the toughest challenges in critical systems engineering. In this chapter, we summarise approaches to the coordinated…