Related papers: Beyond Robustness: A Taxonomy of Approaches toward…
This discussion paper aims to support the argument process for the need to develop a comprehensive science of resilient robotic autonomy. Resilience and its key characteristics relating to robustness, redundancy, and resourcefulness are…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
Despite the impressive performance of Artificial Intelligence (AI) systems, their robustness remains elusive and constitutes a key issue that impedes large-scale adoption. Robustness has been studied in many domains of AI, yet with…
As artificial intelligence continues to advance and becomes more integrated into sensitive areas like healthcare, education, and everyday life, it's crucial for these systems to be both resilient and robust. This paper shows how resilience…
Natural systems are remarkably robust and resilient, maintaining essential functions despite variability, uncertainty, and hostile conditions. Understanding these nonlinear, dynamic behaviours is challenging because such systems involve…
Algorithmic robustness refers to the sustained performance of a computational system in the face of change in the nature of the environment in which that system operates or in the task that the system is meant to perform. Below, we motivate…
This article explains the distinctions between robustness and resilience in control systems. Resilience confronts a distinct set of challenges, posing new ones for designing controllers for feedback systems, networks, and machines that…
We explore the resiliency and robustness of systems while viewing them as complex, multi-genre networks. The term "complex, multi-genre networks" refers to networks that combine several distinct genres - networks of physical resources,…
Resilience refers to the ability of systems to withstand, adapt to, and recover from disruptive events. While studies on resilience have attracted significant attention across various research domains, the precise definition of this concept…
Robustness, the ability of a system to maintain performance under significant and unanticipated environmental changes, is a critical property for robotic systems. While biological systems naturally exhibit robustness, there is no…
Resilience is a system's ability to maintain its function when perturbations and errors occur. Whilst we understand low-dimensional networked systems' behavior well, our understanding of systems consisting of a large number of components is…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
Many systems on our planet are known to shift abruptly and irreversibly from one state to another when they are forced across a "tipping point," such as mass extinctions in ecological networks, cascading failures in infrastructure systems,…
Resilience is widely recognized as an important design goal though it is one that seems to escape a general and consensual understanding. Often mixed up with other system attributes; traditionally used with different meanings in as many…
In optimal control problems, disturbances are typically dealt with using robust solutions, such as H-infinity or tube model predictive control, that plan control actions feasible for the worst-case disturbance. Yet, planning for every…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
Robustness is often regarded as a critical future challenge for real-world applications, where stability is essential. However, as models often learn tasks in a similar order, we hypothesize that easier tasks will be easier regardless of…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
Sustainability and resilience of urban systems are multifaceted concepts, requiring information about multiple system attributes to adequately evaluate and characterize. However, despite the scientific consensus on the multivariate nature…