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Recent embedded systems are designed with high-performance System-on-Chips (SoCs) to satisfy the computational needs of complex applications widely used in real life, such as airplane controllers, autonomous driving automobiles, medical…
Multi- and many-core processors are becoming increasingly popular in embedded systems. Many of these processors now feature hardware virtualization capabilities, such as the ARM Cortex A15, and x86 processors with Intel VT-x or AMD-V…
Real-time operating systems employ spatial and temporal isolation to guarantee predictability and schedulability of real-time systems on multi-core processors. Any unbounded and uncontrolled cross-core performance interference poses a…
Coupled electronic oscillators have recently been explored as a compact, integrated circuit- and room temperature operation- compatible hardware platform to design Ising machines. However, such implementations presently require the…
Safety validation is a crucial component in the development and deployment of autonomous systems, such as self-driving vehicles and robotic systems. Ensuring safe operation necessitates extensive testing and verification of control…
The precise regulation of rotary actuation is fundamental in autonomous robotics, yet practical PID loops deviate from continuous-time theory due to discrete-time execution, actuator saturation, and small delays and measurement…
With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…
The automotive industry is transitioning from federated, homogeneous, interconnected devices to integrated, heterogeneous, mixed-criticality systems (MCS). This leads to challenges in achieving timing predictability techniques due to access…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
While there exist many isolation mechanisms that are available to cloud service providers, including virtual machines, containers, etc., the problem of side-channel increases in importance as a remaining security vulnerability, particularly…
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
As AI models become more embedded in critical sectors like finance, healthcare, and the military, their inscrutable behavior poses ever-greater risks to society. To mitigate this risk, we propose Guillotine, a hypervisor architecture for…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
The underlying framework for controlling autonomous robots and complex automation applications are Operating Systems (OS) capable of scheduling perception-and-control tasks, as well as providing real-time data communication to other robotic…
In the last decade, we have witnessed exponential growth in the complexity of control systems for safety-critical applications (automotive, robots, industrial automation) and their transition to heterogeneous mixed-criticality systems…
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…
3D integration offers key advantages in improving system performance and efficiency for the End-of-Scaling era. It enables the incorporation of heterogeneous system components and disparate technologies, eliminates off-chip communication…
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an…