相关论文: Safety assurance of an industrial robotic control …
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
Recently a lot of multimedia applications are emerging on portable appliances. They require both the flexibility of upgradeable devices (traditionally software based) and a powerful computing engine (typically hardware). In this context,…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…
As factories continue to evolve into collaborative spaces with multiple robots working together with human supervisors in the loop, ensuring safety for all actors involved becomes critical. Currently, laser-based light curtain sensors are…
As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectives, which makes their co-optimization difficult.…
Learning-based robotic systems demand rigorous validation to assure reliable performance, but extensive real-world testing is often prohibitively expensive, and if conducted may still yield insufficient data for high-confidence guarantees.…
Worker-Robot Cooperation is a new industrial trend, which aims to sum the advantages of both the human and the industrial robot to afford a new intelligent manufacturing techniques. The cooperative manufacturing between the worker and the…
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…
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
In this paper, a new hierarchical software architecture is proposed to improve the safety and reliability of a safety-critical drone system from the perspective of its source code. The proposed architecture uses formal verification methods…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Order Control Barrier Functions (HOCBFs) constructed for safe…
Challenges related to automated driving are no longer focused on just the construction of such automated vehicles (AVs), but in assuring the safety of their operation. Recent advances in Level 3 and Level 4 autonomous driving have motivated…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
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…
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despite perceptual uncertainty. Unfortunately, the verification…