Related papers: SROS2: Usable Cyber Security Tools for ROS 2
Robots applications in our daily life increase at an unprecedented pace. As robots will soon operate "out in the wild", we must identify the safety and security vulnerabilities they will face. Robotics researchers and manufacturers focus…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
In this chapter we discuss the problem of master failure in ROS1.0 and its impact on robotic deployments in the real world. We address this issue in this tutorial chapter where we outline, design and demonstrate a fault tolerant mechanism…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…
In recent years, technology has advanced considerably with the introduction of many systems including advanced robotics, big data analytics, cloud computing, machine learning and many more. The opportunities to exploit the yet to come…
Due to the critical importance of Industrial Control Systems (ICS) to the operations of cities and countries, research into the security of critical infrastructure has become increasingly relevant and necessary. As a component of both the…
Drone security is currently a major topic of discussion among researchers and industrialists. Although there are multiple applications of drones, if the security challenges are not anticipated and required architectural changes are not…
The increasing complexity and interconnectivity of digital infrastructures make scalable and reliable security assessment methods essential. Robotic systems represent a particularly important class of operational technology, as modern…
Autonomous navigation systems based on computer vision sensors often require sophisticated robotics platforms which are very expensive. This poses a barrier for the implementation and testing of complex localization, mapping, and navigation…
Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
A unified mathematical model for synchronisation and swarming has recently been proposed. Each system entity, called a "swarmalator", coordinates its internal phase and location with the other entities in a way that these two attributes are…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
In this paper a novel ROS2 driver for UR robot manipulators is presented, based on the ur_rtde C++ library. The proposed driver aims to be a flexible solution, adaptable to a wide range of applications. The driver exposes the high-level…
Fast Identity Online 2 (FIDO2), a modern authentication protocol, is gaining popularity as a default strong authentication mechanism. It has been recognized as a leading candidate to overcome limitations (e.g., it is phishing resistant) of…
Smartphone technology is more and more becoming the predominant communication tool for people across the world. People use their smartphones to keep their contact data, to browse the internet, to exchange messages, to keep notes, carry…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
Security and safety are of paramount importance to human-robot interaction, either for autonomous robots or human-robot collaborative manufacturing. The intertwined relationship between security and safety has imposed new challenges on the…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…