Related papers: Global Task-aware Fault Detection, Identification …
Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…
The problem of faulty sensor detection is investigated in large sensor networks where the sensor faults are sparse and time-varying, such as those caused by attacks launched by an adversary. Group testing and the Kalman filter are designed…
Detecting robot failures during collaborative tasks is crucial for maintaining trust in human-robot interactions. This study investigates user gaze behaviour as an indicator of robot failures, utilising machine learning models to…
In manufacturing processes, surface inspection is a key requirement for quality assessment and damage localization. Due to this, automated surface anomaly detection has become a promising area of research in various industrial inspection…
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…
Multi-robot systems are integral to modern logistics, but their capabilities are often limited to tasks executable by individual agents. This paper addresses a critical gap in existing frameworks like Multi-Agent Path Finding (MAPF) and…
We are experiencing an explosion in the amount of sensors measuring our activities and the world around us. These sensors are spread throughout the built environment and can help us perform state estimation and control of related systems,…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
Decisions in automated logistic systems can be improved based on knowledge of real-time state of individual parts and also environmental factors. These knowledge can be obtained through travel time of edges by individual robots which…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Cooperative information shared among a multi-agent system (MAS) can be useful to agents to efficiently fulfill their missions. Relying on wrong information, however, can have severe consequences. While classical approaches only consider…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
In this paper, we review some recent results about the use of dynamic observers for fault diagnosis of discrete event systems. Fault diagnosis consists in synthesizing a diagnoser that observes a given plant and identifies faults in the…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
The Ground-based Wide-Angle Cameras array (GWAC) necessitates the integration of over 100 hardware devices, more than 100 servers, and upwards of 2500 software modules, all synchronized within a 3-second imaging cycle. However, the…
To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel onboard clock phase jump detection framework for satellite constellations using range measurements obtained from…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
Global and local relational reasoning enable scene understanding models to perform human-like scene analysis and understanding. Scene understanding enables better semantic segmentation and object-to-object interaction detection. In the…
For additive actuator and sensor faults, we propose a systematic method to design a state-space fault estimation filter directly from Markov parameters identified from fault-free data. We address this problem by parameterizing a…