相关论文: Volatile memory forensics for the Robot Operating …
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Effective error detection is crucial to prevent task disruption and maintain user trust. Traditional methods often rely on task-specific models or user reporting, which can be inflexible or slow. Recent research suggests social signals,…
We propose a method for variable selection in the intensity function of spatial point processes that combines sparsity-promoting estimation with noise-robust model selection. As high-resolution spatial data becomes increasingly available…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Mistake analysis in procedural activities is a critical area of research with applications spanning industrial automation, physical rehabilitation, education and human-robot collaboration. This paper reviews vision-based methods for…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using…
AI-controlled robotic systems pose a risk to human workers and the environment. Classical risk assessment methods cannot adequately describe such black box systems. Therefore, new methods for a dynamic risk assessment of such AI-controlled…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
There is an emerging trend in applying deep learning methods to control complex nonlinear systems. This paper considers enhancing the runtime safety of nonlinear systems controlled by neural networks in the presence of disturbance and…
Autonomous mobile robots can rely on several human motion detection and prediction systems for safe and efficient navigation in human environments, but the underline model architectures can have different impacts on the trustworthiness of…
Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…
Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded…
The increasing complexity and interconnectivity of digital infrastructures make scalable and reliable security assessment methods essential. Robotic systems represent a particularly important class of operational technology, as modern…
The IoT is a network of interconnected everyday objects called things that have been augmented with a small measure of computing capabilities. Lately, the IoT has been affected by a variety of different botnet activities. As botnets have…
Measurement of volcanic CO2 flux by a drone swarm poses special challenges. Drones must be able to follow gas concentration gradients while tolerating frequent drone loss. We present the LoCUS algorithm as a solution to this problem and…
Reinforcement Learning (RL) algorithms have achieved remarkable performance in decision making and control tasks due to their ability to reason about long-term, cumulative reward using trial and error. However, during RL training, applying…
Traffic incidents involving vulnerable road users (VRUs) constitute a significant proportion of global road accidents. Advances in traffic communication ecosystems, coupled with sophisticated signal processing and machine learning…