Related papers: SOTER on ROS: A Run-Time Assurance Framework on th…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
In this work we present the Secure Machine, SeM for short, a CPU architecture extension for secure computing. SeM uses a small amount of in-chip additional hardware that monitors key communication channels inside the CPU chip, and only acts…
Robotics in Australia have a long history of conforming with safety standards and risk managed practices. This chapter articulates the current state of trust and safety in robotics including society's expectations, safety management systems…
Robots are increasingly operating in open-world environments where safe behavior depends on context: the same hallway may require different navigation strategies when crowded versus empty, or during an emergency versus normal operations.…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Robotics is becoming more and more ubiquitous, but the pressure to bring systems to market occasionally goes at the cost of neglecting security mechanisms during the development, deployment or while in production. As a result, contemporary…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…
This paper introduces a run-time mechanism for preventing leakage of secure information in distributed systems. We consider a general concurrency language model, where concurrent objects interact by asynchronous method calls and futures.…
Using natural language to give instructions to robots is challenging, since natural language understanding is still largely an open problem. In this paper we address this problem by restricting our attention to commands modeled as one…
Semi-autonomous driving, as it is already available today and will eventually become even more accessible, implies the need for driver and automation system to reliably work together in order to ensure safe driving. A particular challenge…
The StarL programming framework aims to simplify development of distributed robotic applications by providing easy-to-use language constructs for communication and control. It has been used to develop applications such as formation control,…
Distributed real-time and embedded (DRE) systems executing mixed criticality task sets are increasingly being deployed in mobile and embedded cloud computing platforms, including space applications. These DRE systems must not only operate…
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…
In learning-enabled autonomous systems, safety monitoring of learned components is crucial to ensure their outputs do not lead to system safety violations, given the operational context of the system. However, developing a safety monitor…
Broadly defined as the Internet of Things (IoT), the growth of commodity devices that integrate physical processes with digital systems have changed the way we live, play and work. Yet existing IoT platforms cannot evaluate whether an IoT…