相关论文: PHYSFRAME: Type Checking Physical Frames of Refere…
Robots have gained relevance in society, increasingly performing critical tasks. Nonetheless, robot security is being underestimated. Robotics security is a complex landscape, which often requires a cross-disciplinar perspective to which…
Autonomous and semi-autonomous vehicles' perception algorithms can encounter situations with erroneous object detection, such as misclassification of objects on the road, which can lead to safety violations and potentially fatal…
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…
Quantum reference frame transformations have been proposed to provide a means by which to translate descriptions of quantum systems relative to each other. At present, there are several differing frameworks for describing quantum reference…
Autonomous and Robotics Systems (ARSs) are widespread, complex, and increasingly coming into contact with the public. Many of these systems are safety-critical, and it is vital to detect software errors to protect against harm. We propose a…
Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…
Performance monitoring of object detection is crucial for safety-critical applications such as autonomous vehicles that operate under varying and complex environmental conditions. Currently, object detectors are evaluated using summary…
The identification of dynamic parameters in mechanical systems is important for improving model-based control as well as for performing realistic dynamic simulations. Generally, when identification techniques are applied only a subset of…
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…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
Spatio-temporal patterns emerging from an initial quiescent, uniform state is a phenomenon observed in many dynamical systems sustained far from thermodynamic equilibrium, the practical application of which has only recently begun to be…
Periodic control systems used in spacecrafts and automotives are usually period-driven and can be decomposed into different modes with each mode representing a system state observed from outside. Such systems may also involve intensive…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
Many mobile robotic platforms rely on an accurate knowledge of the extrinsic calibration parameters, especially systems performing visual stereo matching. Although a number of accurate stereo camera calibration methods have been developed,…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Performance measurement of robotic controllers based on fuzzy logic, operating under uncertainty, is a subject area which has been somewhat ignored in the current literature. In this paper standard measures such as RMSE are shown to be…