相关论文: A Verifiable and Correct-by-Construction Controlle…
AI deployment in sensitive domains such as health care, credit, employment, and criminal justice is often treated as unsafe to authorize until model internals can be explained. This often leads to an excessive reliance on mechanistic…
Formal verification of neuro-symbolic cyber-physical systems, such as drones, medical devices and robots, is complicated. Neural components must be trained to be optimal with respect to the available data as well as the safety…
Simulation is a foundational tool for the analysis and testing of cyber-physical systems (CPS), underpinning activities such as algorithm development, runtime monitoring, and system verification. As CPS grow in complexity and scale,…
Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…
As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…
Advances in artificial intelligence (AI) including large language models (LLMs) and hybrid reasoning models present an opportunity to reimagine how autonomous robots such as drones are designed, developed, and validated. Here, we…
Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…
The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have…
Modern robotic systems integrate multiple independent software and hardware components, each responsible for distinct functionalities such as perception, decision-making, and execution. These components interact extensively to accomplish…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
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…
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…
Interest in semi-autonomous systems (SAS) is growing rapidly as a paradigm to deploy autonomous systems in domains that require occasional reliance on humans. This paradigm allows service robots or autonomous vehicles to operate at varying…
Intelligent robot is the ultimate goal in the robotics field. Existing works leverage learning-based or optimization-based methods to accomplish human-defined tasks. However, the challenge of enabling robots to explore various environments…
In this paper, we propose a system-level approach for verifying the safety of neural network controlled systems, combining a continuous-time physical system with a discrete-time neural network based controller. We assume a generic model for…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyber-physical systems: they can operate in virtual, physical, and human realms.…