Related papers: Cyber-Secure Teleoperation With Encrypted Four-Cha…
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…
Encrypted controllers using homomorphic encryption have proven to guarantee the privacy of measurement and control signals, as well as system and controller parameters, while regulating the system as intended. However, encrypting dynamic…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
This paper addresses the application of quantum entanglement and cryptography for automation and control of dynamic systems. A dynamic system is a system where the rates of changes of its state variables are not negligible. Quantum…
The autonomous flying agents in a Network-centric environment and brings out various security threats and various techniques of Cryptography. Primary Focus is on study and implementation of how cryptographic algorithms can be effectively be…
In bilateral teleoperation, the human who operates the master and the environment which interacts with the slave are part of the force feedback loop. Yet, both have time-varying and unpredictable dynamics and are challenging to model. A…
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
A fully homomorphic encryption system hides data from unauthorized parties, while still allowing them to perform computations on the encrypted data. Aside from the straightforward benefit of allowing users to delegate computations to a more…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
This paper is about an encryption based approach to the secure implementation of feedback controllers for physical systems. Specifically, Paillier's homomorphic encryption is used to digitally implement a class of linear dynamic…
Encrypted control is a promising method for the secure outsourcing of controller computation to a public cloud. However, a feasible method for security proofs of control has not yet been developed in the field of encrypted control systems.…