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

Motivated by the need to secure cyber-physical systems against attacks, we consider the problem of estimating the state of a noisy linear dynamical system when a subset of sensors is arbitrarily corrupted by an adversary. We propose a…

Dynamic target detection and target tracking are hot issues in the field of image. In order to explore its application value in the field of mobile robot, a dynamic target detection and tracking system is designed based on hexapod robot.…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Sensor data-based recognition systems are widely used in various applications, such as gait-based authentication and human activity recognition (HAR). Modern wearable and smart devices feature various built-in Inertial Measurement Unit…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

We address the problem of detecting and mitigating the effect of malicious attacks to the sensors of a linear dynamical system. We develop a novel, efficient algorithm that uses a Satisfiability-Modulo-Theory approach to isolate the…

Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be…

Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh…

A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…

Modern self-driving perception systems have been shown to improve upon processing complementary inputs such as LiDAR with images. In isolation, 2D images have been found to be extremely vulnerable to adversarial attacks. Yet, there have…

Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…

Cyber-physical systems (CPS) are being increasingly utilized for critical applications. CPS combines sensing and computing elements, often having multi-layer designs with networking, computational, and physical interfaces, which provide…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which…

Cyber-physical-social connectivity is a key element in Intelligent Transportation Systems (ITSs) due to the ever-increasing interaction between human users and technological systems. Such connectivity translates the ITSs into dynamical…

Tele-operated driving (ToD) systems are special types of cyber-physical systems (CPSs) where the operator remotely controls the steering, acceleration, and braking actions of the vehicle. Malicious actors may inject false data in…

This paper addresses the problem of detecting possible intruders in a group of autonomous robots, which coexist in a shared environment and interact with each other according to a set of "social behaviors", or common rules. Such rules…

In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized…

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…

Reinforcement learning (RL) agents typically assume stationary environment dynamics. Yet in real-world applications such as healthcare, robotics, and finance, transition probabilities or reward functions may evolve, leading to model drift.…