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Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…
Trusted Execution Environments (TEEs) on low-power microcontrollers (e.g., ARM TrustZone-M) enable isolation of Secure and Non-Secure software but still require both worlds to share resources, including interrupt controllers. In this model,…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
This invited paper discusses a new but important problem, supervised autonomy, in the context of robotics. The paper defines supervised autonomy and compares the supervised autonomy with robotic teleoperation and robotic full autonomy.…
Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited…
Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…
Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…
We present time-constrained automata (TCA), a model for hard real-time computation in which agents behaviors are modeled by automata and constrained by time intervals. TCA actions can have multiple start time and deadlines, can be…
In this paper, we investigate requirements to prepare an application for Specific Operations Risk Assessment (SORA), regulated by European Union Aviation Safety Agency (EASA) to obtain flight authorization for Unmanned Aerial Vehicles…
We assume that autonomous or highly automated driving (AD) will be accompanied by tough assurance obligations exceeding the requirements of even recent revisions of ISO 26262 or SOTIF. Hence, automotive control and safety engineers have to…
The increased capabilities of modern real-time systems (RTS) expose them to various security threats. Recently, frameworks that integrate security tasks without perturbing the real-time tasks have been proposed, but they only target single…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…
A major issue with Time of Flight sensors is the presence of multipath interference. We present Sparse Reflections Analysis (SRA), an algorithm for removing this interference which has two main advantages. First, it allows for very general…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
The safety validation of Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) increasingly demands efficient and reliable methods to quantify residual risk while adhering to international standards such as ISO…