相关论文: A Verifiable and Correct-by-Construction Controlle…

Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…

To address the gaps between the static pre-set "thinking-planning-action" of humanoid robots in unfamiliar scenarios and the highly programmed "call tool-return result" due to the lack of autonomous coding capabilities, this work designs a…

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…

Thanks to new technologies and communication paradigms, such as the Internet of Things (IoT) and the Robotic Operating System (ROS), modern robots can be built by combining heterogeneous standard devices in a single embodiment. Although…

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…

The integration of Large Language Models (LLMs) into robotics has revolutionized their ability to interpret complex human commands and execute sophisticated tasks. However, such paradigm shift introduces critical security vulnerabilities…

Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup…

This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a…

Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…

Nowadays, we are dealing more and more with robots and AI in everyday life. However, their behavior is not always apparent to most lay users, especially in error situations. As a result, there can be misconceptions about the behavior of the…

This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…

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…

Safety assurance is a paramount factor in the large-scale deployment of various autonomous systems (e.g., self-driving vehicles). However, the execution of safety engineering practices and processes have been challenged by an increasing…

Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…

A computational system is called autonomous if it is able to make its own decisions, or take its own actions, without human supervision or control. The capability and spread of such systems have reached the point where they are beginning to…

Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including…

Artificial intelligence now decides who receives a loan, who is flagged for criminal investigation, and whether an autonomous vehicle brakes in time. Governments have responded: the EU AI Act, the NIST Risk Management Framework, and the…

Autonomous systems with cognitive features are on their way into the market. Within complex environments, they promise to implement complex and goal oriented behavior even in a safety related context. This behavior is based on a certain…

Companies dealing with Artificial Intelligence (AI) models in Autonomous Systems (AS) face several problems, such as users' lack of trust in adverse or unknown conditions, gaps between software engineering and AI model development, and…

Classical control of cyber-physical systems used to rely on basic linear controllers. These controllers provided a safe and robust behavior but lack the ability to perform more complex controls such as aggressive maneuvering or performing…