相关论文: Exploiting Physical Dynamics to Detect Actuator an…

Robots applications in our daily life increase at an unprecedented pace. As robots will soon operate "out in the wild", we must identify the safety and security vulnerabilities they will face. Robotics researchers and manufacturers focus…

Sensors are crucial for perception and autonomous operation in robotic vehicles (RV). Unfortunately, RV sensors can be compromised by physical attacks such as sensor tampering or spoofing. In this paper, we present DeLorean, a unified…

For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…

Autonomous Driving (AD) systems critically depend on visual perception for real-time object detection and multiple object tracking (MOT) to ensure safe driving. However, high latency in these visual perception components can lead to…

This paper investigates the problem of Zero Dynamics (ZD) cyber-attack detection and isolation in Cyber-Physical Systems (CPS). By utilizing the notion of auxiliary systems with event-based communications, we will develop a detection…

The amount of Android malware has increased greatly during the last few years. Static analysis is widely used in detecting such malware by analyzing the code without execution. The effectiveness of current tools relies on the app model as…

Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theoretical, or algorithmic but also physical, indicating limited…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…

Physical adversarial attacks are increasingly studied in settings that resemble deployed surveillance systems rather than isolated image benchmarks. In these settings, person detection, multi-object tracking, visible--infrared sensing, and…

Roadheader is an engineering robot widely used in underground engineering and mining industry. Interactive dynamics simulation of roadheader is a fundamental problem in unmanned excavation and virtual reality training. However, current…

This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is designed for real-world robots with nonlinear dynamic models and…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

This paper presents a real-time method to detect and track multiple mobile ground robots using event cameras. The method uses density-based spatial clustering of applications with noise (DBSCAN) to detect the robots and a single…

In the current era of the industrial revolution, mobile robots are playing a pivotal role in helping out mankind in many complex and hazardous environments for performing tasks like search and rescue, obstacle avoidance, mining and security…

We address adversarial attacks on the actuators at the joints of legged robots trained by deep reinforcement learning. The vulnerability to the joint attacks can significantly impact the safety and robustness of legged robots. In this…

Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…

Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end…

Detecting and adapting to catastrophic failures in robotic systems requires a robot to learn its new dynamics quickly and safely to best accomplish its goals. To address this challenging problem, we propose probabilistically-safe, online…

This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…