Related papers: Digital Twin Enabled Runtime Verification for Auto…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
The environmental perception of an autonomous vehicle is limited by its physical sensor ranges and algorithmic performance, as well as by occlusions that degrade its understanding of an ongoing traffic situation. This not only poses a…
Current Cyber-Physical Systems (CPS) integrated with Digital Twin (DT) technology face critical limitations in achieving real-time performance for mission-critical industrial applications. Existing 5G-enabled systems suffer from latencies…
Digital twin has revolutionized optical communication networks by enabling their full life-cycle management, including design, troubleshooting, optimization, upgrade, and prediction. While extensive literature exists on frameworks,…
With the continued growth of its core technologies, including the Internet of Things (IoT), artificial intelligence (AI), Big Data and data analytics, and edge computing, digital twin (DT) technology has witnessed a significant increase in…
Verification and validation (V&V) of autonomous vehicles (AVs) typically requires exhaustive testing across a variety of operating environments and driving scenarios including rare, extreme, or hazardous situations that might be difficult…
There is an increasing necessity to deploy autonomous systems in highly heterogeneous, dynamic environments, e.g. service robots in hospitals or autonomous cars on highways. Due to the uncertainty in these environments, the verification…
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…
In the manufacturing industry, the digital twin (DT) is becoming a central topic. It has the potential to enhance the efficiency of manufacturing machines and reduce the frequency of errors. In order to fulfill its purpose, a DT must be an…
An autonomous vessel (AV) is a complex cyber-physical system (CPS) with software enabling many key functionalities, e.g., navigation software enables an AV to autonomously or semi-autonomously follow a path to its destination. Digital twins…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…
Emerging safety-critical Vehicle-to-Everything (V2X) applications require networks to proactively adapt to rapid environmental changes rather than merely reacting to them. While Network Digital Twins (NDTs) offer a pathway to such…
Digital Twin (DT) technologies promise to remove cyber-physical barriers in systems and services and provide seamless management of distributed resources effectively. Ideally, full-fledged instantiations of DT offer bi-directional features…
Open, unclassified research on secure autonomy is constrained by limited access to operational platforms, contested communications infrastructure, and representative adversarial test conditions. This paper presents a threat-oriented digital…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
Digital Twin technology is playing a pivotal role in the modern industrial evolution. Especially, with the technological progress in the Internet-of-Things (IoT) and the increasing trend in autonomy, multi-sensor equipped robotics can…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
Autonomous robots must utilize rich sensory data to make safe control decisions. To process this data, compute-constrained robots often require assistance from remote computation, or the cloud, that runs compute-intensive deep neural…