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Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavity without disturbing the insertion point on the patient.…
Operators performing high-stakes, safety-critical tasks - such as air traffic controllers, surgeons, or mission control personnel - must maintain exceptional cognitive performance under variable and often stressful conditions. This paper…
The reuse of technologies and inherent complexity of most robotic systems is increasingly leading to robots with wide attack surfaces and a variety of potential vulnerabilities. Given their growing presence in public environments, security…
In learning-enabled autonomous systems, safety monitoring of learned components is crucial to ensure their outputs do not lead to system safety violations, given the operational context of the system. However, developing a safety monitor…
The vulnerability of artificial intelligence (AI) and machine learning (ML) against adversarial disturbances and attacks significantly restricts their applicability in safety-critical systems including cyber-physical systems (CPS) equipped…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
Robots are being designed to help people in an increasing variety of settings--but seemingly little attention has been given so far to the specific needs of women, who represent roughly half of the world's population but are highly…
Integrating large language models (LLMs) into robotic systems has revolutionised embodied artificial intelligence, enabling advanced decision-making and adaptability. However, ensuring reliability, encompassing both security against…
Workplace accidents are a critical problem that causes many deaths, injuries, and financial losses. Climate change has a severe impact on industrial workers, partially caused by global warming. To reduce such casualties, it is important to…
Objective: The status of human-robot collaboration for assembly applications is reviewed and key current challenges for the research community and practitioners are presented. Background: As the pandemic of COVID-19 started to surface the…
We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be…
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and…
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots…
The last decade's market has been characterized by wearable devices, mainly smartwatches, edge, and cloud computing. A possible application of these technologies is to improve the safety of dangerous activities, especially driving motor…