Related papers: Secure Robotics: A Definition and a Brief Review f…
This is a preprint of a review article that has not yet undergone peer review. The content is intended for early dissemination and academic discussion. The final version may differ upon formal publication. As the Fourth Industrial…
Industrial robotics has established itself as an integral component of large-scale manufacturing enterprises. Simultaneously, collaborative robotics is gaining prominence, introducing novel paradigms of human-machine interaction. These…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
In this discussion paper, we survey recent research surrounding robustness of machine learning models. As learning algorithms become increasingly more popular in data-driven control systems, their robustness to data uncertainty must be…
Autonomous vehicles rely on machine learning to solve challenging tasks in perception and motion planning. However, automotive software safety standards have not fully evolved to address the challenges of machine learning safety such as…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
Gestures are a topic of increasing interest in authentication and successful implementation as a security layer requires reliable gesture recognition. So far much work focuses on new ways to recognize gestures, leaving discussion on the…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple…
Assuring safety of artificial intelligence (AI) applied to safety-critical systems is of paramount importance. Especially since research in the field of automated driving shows that AI is able to outperform classical approaches, to handle…
While much research explores improving robot capabilities, there is a deficit in researching how robots are expected to perform tasks safely, especially in high-risk problem domains. Robots must earn the trust of human operators in order to…
This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their…
The exposure of security vulnerabilities in safety-aligned language models, e.g., susceptibility to adversarial attacks, has shed light on the intricate interplay between AI safety and AI security. Although the two disciplines now come…
The conversation around artificial intelligence (AI) often focuses on safety, transparency, accountability, alignment, and responsibility. However, AI security (i.e., the safeguarding of data, models, and pipelines from adversarial…
Wearable robots are undergoing a disruptive transition, from the rigid machines that populated the science-fiction world in the early eighties to lightweight robotic apparel, hardly distinguishable from our daily clothes. In less than a…
As hardware and software systems have grown in complexity, formal methods have been indispensable tools for rigorously specifying acceptable behaviors, synthesizing programs to meet these specifications, and validating the correctness of…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
The deployment of autonomous systems has experienced remarkable growth in recent years, driven by their integration into sectors such as industry, medicine, logistics, and domestic environments. This expansion is accompanied by a series of…
Robots and artificial machines have been captivating the public for centuries, depicted first as threats to humanity, then as subordinates and helpers. In the last decade, the booming exposure of humans to robots has fostered an increasing…