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Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
In the past few decades, autonomous driving algorithms have made significant progress in perception, planning, and control. However, evaluating individual components does not fully reflect the performance of entire systems, highlighting the…
Reach-avoid optimal control problems, in which the system must reach certain goal conditions while staying clear of unacceptable failure modes, are central to safety and liveness assurance for autonomous robotic systems, but their exact…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations such as package delivery, firefighting, and fast disaster response. As a result, UAV traffic management systems are needed to support…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…
RGB cameras are one of the most relevant sensors for autonomous driving applications. It is undeniable that failures of vehicle cameras may compromise the autonomous driving task, possibly leading to unsafe behaviors when images that are…
When a system's constraints change abruptly, the system's reachability safety does no longer sustain. Thus, the system can reach a forbidden/dangerous value. Conventional remedy practically involves online controller redesign (OCR) to…
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Automatic optimization of robotic behavior has been the long-standing goal of Evolutionary Robotics. Allowing the problem at hand to be solved by automation often leads to novel approaches and new insights. A common problem encountered with…
While much research has recently focused on generating physics-based adversarial samples, a critical yet often overlooked category originates from physical failures within on-board cameras-components essential to the perception systems of…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing…
Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and unknown human driving behaviors. Data-driven control methods…
A fundamental concern in progressing Airborne Wind Energy (AWE) operations towards commercial success, is guaranteeing that safety requirements placed on the systems are met. Due to the high dimensional complexity of AWE systems, however,…
Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…