相关论文: SOTER on ROS: A Run-Time Assurance Framework on th…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact events, which limit robustness and…
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…
The development of the SJ Framework for session-based distributed programming is part of recent and ongoing research into integrating session types and practical, real-world programming languages. SJ programs featuring session types…
In this work, we outline a cross-domain assurance process for safety-relevant software in embedded systems. This process aims to be applied in various different application domains and in conjunction with any development methodology. With…
Robot apps are becoming more automated, complex and diverse. An app usually consists of many functions, interacting with each other and the environment. This allows robots to conduct various tasks. However, it also opens a new door for…
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…
The Robot Operating System (ROS) is a popular robotics middleware framework. In the last years, it underwent a redesign and reimplementation under the name ROS~2. It now features QoS-configurable communication and a flexible layered…
Exploration of unknown environments is an important challenge in the field of robotics. While a single robot can achieve this task alone, evidence suggests it could be accomplished more efficiently by groups of robots, with advantages in…
Industrial Control Systems (ICS) are often built from geographically distributed components and often use programmable logic controllers for localized processes. Since verification of such systems is challenging because of both time…
AI-enabled Security Orchestration, Automation, and Response (SOAR) systems increasingly employ autonomous agents for cyber defense, yet their resilience to adaptive adversaries is underexplored. We introduce an autonomous red teaming…
Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…
Current large language model agent frameworks prioritize autonomy but lack the governability mechanisms required for enterprise deployment. High-risk write operations proceed without independent review, complex tasks lack acceptance…
We present RTAMT, an online monitoring library for Signal Temporal Logic (STL) and its interface-aware variant (IA-STL), providing both discrete- and dense-time interpretation of the logic. We also introduce RTAMT4ROS, a tool that…
We address the problem of verifying safety properties of concurrent programs running over the Total Store Order (TSO) memory model. Known decision procedures for this model are based on complex encodings of store buffers as lossy channels.…
In this paper, we present an approach for quantifying the propagated uncertainty of robot systems in an online and data-driven manner. Especially in Human-Robot Collaboration, keeping track of the safety compliance during run time is…
We present a safety verification framework for design-time and run-time assurance of learning-based components in aviation systems. Our proposed framework integrates two novel methodologies. From the design-time assurance perspective, we…
The Rational Unified Process a software engineering process is gaining popularity nowadays. RUP delivers best software practices for component software Development life cycle It supports component based software development. Risk is…
Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require…
Robotic telesurgical systems are one of the most complex medical cyber-physical systems on the market, and have been used in over 1.75 million procedures during the last decade. Despite significant improvements in design of robotic surgical…