Related papers: Survey on safe robot control via learning
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Safe learning and optimization deals with learning and optimization problems that avoid, as much as possible, the evaluation of non-safe input points, which are solutions, policies, or strategies that cause an irrecoverable loss (e.g.,…
Robots have gained relevance in society, increasingly performing critical tasks. Nonetheless, robot security is being underestimated. Robotics security is a complex landscape, which often requires a cross-disciplinar perspective to which…
The large-scale integration of intermittent renewable energy resources introduces increased uncertainty and volatility to the supply side of power systems, thereby complicating system operation and control. Recently, data-driven approaches,…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
With the continuous breakthroughs in core technology, the dawn of large-scale integration of robotic systems into daily human life is on the horizon. Multi-robot systems (MRS) built on this foundation are undergoing drastic evolution. The…
The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished…
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
The use of mobile robots has inevitably increased in recent years. The increase in the companies that produce products in this field, the popularity of the studies in the robotic field and the technological competence to serve many…
The growing advancements in Autonomous Vehicles (AVs) have emphasized the critical need to prioritize the absolute safety of AV maneuvers, especially in dynamic and unpredictable environments or situations. This objective becomes even more…
Policy search reinforcement learning allows robots to acquire skills by themselves. However, the learning procedure is inherently unsafe as the robot has no a-priori way to predict the consequences of the exploratory actions it takes.…
In this paper, we introduce a probabilistic approach to risk assessment of robot systems by focusing on the impact of uncertainties. While various approaches to identifying systematic hazards (e.g., bugs, design flaws, etc.) can be found in…
Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…
Testing of autonomous systems is extremely important as many of them are both safety-critical and security-critical. The architecture and mechanism of such systems are fundamentally different from traditional control software, which appears…
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…