Related papers: Barrier Certificate based Safe Control for LiDAR-b…
Cyber-physical systems (CPS) are required to satisfy safety constraints in various application domains such as robotics, industrial manufacturing systems, and power systems. Faults and cyber attacks have been shown to cause safety…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also…
In order to certify performance and safety, feedback control requires precise characterization of sensor errors. In this paper, we provide guarantees on such feedback systems when sensors are characterized by solving a supervised learning…
In robotic applications, the control, and actuation deal with a continuous description of the system and environment, while high-level planning usually works with a discrete description. This paper considers the problem of bridging the…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to…
In this survey, we review the recent advances in control design methods for robotic multi-agent systems (MAS), focussing on learning-based methods with safety considerations. We start by reviewing various notions of safety and liveness…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…
In this work, we consider the safety-oriented performance of 3D object detectors in autonomous driving contexts. Specifically, despite impressive results shown by the mass literature, developers often find it hard to ensure the safe…
This paper studies the performance and resilience of a linear cyber-physical control system (CPCS) with attack detection and reactive attack mitigation in the context of power grids. It addresses the problem of deriving an optimal sequence…
Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…
Sensor attacks compromise the reliability of cyber-physical systems (CPSs) by altering sensor outputs with the objective of leading the system to unsafe system states. This paper studies a probabilistic intrusion detection framework based…
Ensuring safe autonomous driving in the presence of occlusions poses a significant challenge in its policy design. While existing model-driven control techniques based on set invariance can handle visible risks, occlusions create latent…
In this paper we consider tandem error control coding and cryptography in the setting of the {\em wiretap channel} due to Wyner. In a typical communications system a cryptographic application is run at a layer above the physical layer and…
Collision avoidance is a critical task in many applications, such as ADAS (advanced driver-assistance systems), industrial automation and robotics. In an industrial automation setting, certain areas should be off limits to an automated…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
We consider the problem of verifying safety for continuous-time dynamical systems. Developing upon recent advancements in data-driven verification, we use only a finite number of sampled trajectories to learn a barrier certificate, namely a…
Stealthy false data injection attacks on cyber-physical systems (CPSs) introduce erroneous measurement information to on-board sensors with the purpose to degrade system performance. An intelligent attacker is able to leverage knowledge of…
The goal of extrinsic calibration is the alignment of sensor data to ensure an accurate representation of the surroundings and enable sensor fusion applications. From a safety perspective, sensor calibration is a key enabler of autonomous…