Related papers: Safe Networked Robotics with Probabilistic Verific…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
Over the past decades, network systems have surged in significance, driven by merging technological advancements. These systems play pivotal roles in diverse applications ranging from autonomous driving to smart grids, yet they confront…
Prevailing wisdom asserts that one cannot rely on the cloud for critical real-time control systems like self-driving cars. We argue that we can, and must. Following the trends of increasing model sizes, improvements in hardware, and…
A robotic network is a system with multiple robots connected by a communication network. Certain tasks that cannot be accomplished with available robotic resources are candidates for the use of cloud robotics, which overcomes the…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
The integration of Large Language Models (LLMs) into autonomous robotic agents for conducting online transactions poses significant cybersecurity challenges. This study aims to enforce robust cybersecurity constraints to mitigate the risks…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
To assure that an autonomous car is driving safely on public roads, its object detection module should not only work correctly, but show its prediction confidence as well. Previous object detectors driven by deep learning do not explicitly…
802.11p based V2X communication uses stochastic medium access control, which cannot prevent broadcast packet collision, in particular during high channel load. Wireless congestion control has been designed to keep the channel load at an…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…
After entering the era of big data, more and more companies build services with machine learning techniques. However, it is costly for companies to collect data and extract helpful handcraft features on their own. Although it is a way to…
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily influenced by, first, the control systems deploying…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…
Neural networks are one of the most investigated and widely used techniques in Machine Learning. In spite of their success, they still find limited application in safety- and security-related contexts, wherein assurance about networks'…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
Perception of obstacles remains a critical safety concern for autonomous vehicles. Real-world collisions have shown that the autonomy faults leading to fatal collisions originate from obstacle existence detection. Open source autonomous…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…