Related papers: Generating Safe Autonomous Decision-Making in ROS
As humans, robots, and software agents increasingly share safety-critical environments, coordination must move from static task allocation to managing uncertain commitments. Existing frameworks fall short: they either assume rigid, static…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
Mobile robotic systems are increasingly used in various work environments to support productivity. However, deploying robots in workplaces crowded by human workers and interacting with them results in safety challenges and concerns, namely…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary…
Robots have gained relevance in society, increasingly performing critical tasks. Nonetheless, robot security is being underestimated. Robotics security is a complex landscape, which often requires a cross-disciplinar perspective to which…
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…
We present GLAS: Global-to-Local Autonomy Synthesis, a provably-safe, automated distributed policy generation for multi-robot motion planning. Our approach combines the advantage of centralized planning of avoiding local minima with the…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Ensuring the safety and reliability of Automated Driving Systems (ADS) remains a critical challenge, as traditional verification methods such as large-scale on-road testing are prohibitively costly and time-consuming.To address…
Developing and fielding complex systems requires proof that they are reliably correct with respect to their design and operating requirements. Especially for autonomous systems which exhibit unanticipated emergent behavior, fully…
Automated Driving Systems (ADSs) have seen rapid progress in recent years. To ensure the safety and reliability of these systems, extensive testings are being conducted before their future mass deployment. Testing the system on the road is…
We introduce GRS (Generating Robotic Simulation tasks), a system addressing real-to-sim for robotic simulations. GRS creates digital twin simulations from single RGB-D observations with solvable tasks for virtual agent training. Using…
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…
Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…