相关论文: Safety assurance of an industrial robotic control …

We present CODEV, a Matlab-based tool for verifying systems employing Model Predictive Control (MPC). The MPC solution is computed offline and modeled together with the physical system as a hybrid automaton, whose continuous dynamics may be…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…

The article explores the intersection of computer vision technology and robotic control, highlighting its importance in various fields such as industrial automation, healthcare, and environmental protection. Computer vision technology,…

In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…

Cyber-physical systems, such as learning robots and other autonomous systems, employ high-integrity software in their safety-critical control. This software is developed using a range of tools some of which need to be qualified for this…

This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…

Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…

In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…

Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…

We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…

The design of Systems on Chips (SoCs) is becoming more and more complex due to technological advancements. Missed bugs can cause drastic failures in safety-critical environments leading to the endangerment of lives. To overcome these…

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…

With the complexity of Integrated Circuits increasing, design verification has become the most time consuming part of the ASIC design flow. Nearly 70% of the SoC design cycle is consumed by verification. The most commonly used approach to…

This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…

With the growing interest in deploying robots in unstructured and uncertain environments, there has been increasing interest in factoring risk into safety-critical control development. Similarly, the authors believe risk should also be…

In this paper, we present a domain specific process to assist the verification of observer-based fault detection software. Observer-based fault detection systems, like control systems, yield invariant properties of quadratic types. These…

The use of autonomous vehicles in real-world applications is often precluded by the difficulty of providing safety guarantees for their complex controllers. The simulation-based testing of these controllers cannot deliver sufficient safety…

Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper…

Industrial robots are important machines applied in numerous modern industries that execute repetitive tasks with high accuracy, replacing or supporting dangerous jobs. In this kind of system, with increased complexity in which cost is…