Related papers: Generating Safe Autonomous Decision-Making in ROS
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…
Risk is traditionally described as the expected likelihood of an undesirable outcome, such as collisions for autonomous vehicles. Accurately predicting risk or potentially risky situations is critical for the safe operation of autonomous…
Software safety is a crucial aspect during the development of modern safety-critical systems. Software is becoming responsible for most of the critical functions of systems. Therefore, the software components in the systems need to be…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
This paper presents an overview of Waymo's approach to building a reliable case for safety - a novel and thorough blueprint for use by any company building fully autonomous driving systems. A safety case for fully autonomous operations is a…
The safety of Automated Vehicles (AV) as Cyber-Physical Systems (CPS) depends on the safety of their consisting modules (software and hardware) and their rigorous integration. Deep Learning is one of the dominant techniques used for…
Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…
The widescale deployment of Autonomous Vehicles (AV) appears to be imminent despite many safety challenges that are yet to be resolved. It is well-known that there are no universally agreed Verification and Validation (VV) methodologies…
Collaboration in multi-agent autonomous systems is critical to increase performance while ensuring safety. However, due to heterogeneity of their features in, e.g., perception qualities, some autonomous systems have to be considered more…
The automotive industry is experiencing a transition from assisted to highly automated driving. New concepts for validation of Automated Driving System (ADS) include amongst other a shift from a "technology based" approach to a "scenario…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
Any industrial system goes along with objectives to be met (e.g. economic performance), disturbances to handle (e.g. market fluctuations, catalyst decay, unexpected variations in uncontrolled flow rates and compositions,...), and…
The widescale deployment of Autonomous Vehicles (AV) seems to be imminent despite many safety challenges that are yet to be resolved. It is well known that there are no universally agreed Verification and Validation (VV) methodologies to…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement -- in addition to collision…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…
With the growing interest in deploying robots in unstructured and uncertain environments, there has been increasing interest in factoring risk into safety-critical control development. Similarly, the authors believe risk should also be…