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

In this paper, the current state of security in robotics is described to be in need of review. When we consider safety mechanisms implemented in an Internet-connected robot, the requirement of safety becomes a crucial security requirement.…

Registers are primary storage elements in System-on-chip~(SoC) designs and play an important role in maintaining state information and processing data in digital systems. With respect to the ISO26262 standard, these registers require high…

Image-based visual servoing (IBVS) is a widely-used approach in robotics that employs visual information to guide robots towards desired positions. However, occlusions in this approach can lead to visual servoing failure and degrade the…

Ensuring that autonomous space robot control software behaves as it should is crucial, particularly as software failure in space often equates to mission failure and could potentially endanger nearby astronauts and costly equipment. To…

In the recent years, there has been a rush towards highly autonomous systems operating in public environments, such as automated driving of road vehicles, passenger shuttle systems and mobile robots. These systems, operating in…

Modern vehicles become increasingly digitalized with advanced information technology-based solutions like advanced driving assistance systems and vehicle-to-x communications. These systems are complex and interconnected. Rising complexity…

This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability has methods for direct construction of value functions that…

As the landscape of devices that interact with the electrical grid expands, also the complexity of the scenarios that arise from these interactions increases. Validation methods and tools are typically domain specific and are designed to…

Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those robots operate in dynamic uncertain environment with limited…

Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…

Hardware-firmware co-verification is critical to design trustworthy systems. While formal methods can provide verification guarantees, due to the complexity of firmware and hardware, it can lead to state space explosion. There are promising…

We present a hardware-in-the-loop (HIL) simulation setup for repeatable testing of Connected Automated Vehicles (CAVs) in dynamic, real-world scenarios. Our goal is to test control and planning algorithms and their distributed…

We consider the problem of automating the verification of distributed control software relying on publish-subscribe middleware. In this scenario, the main challenge is that software correctness depends intrinsically on correct usage of…

In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated…

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…

Virtualization of computing and networking, IT-OT convergence, cybersecurity and AI-based enhancement of autonomy are significantly increasing the complexity of CPS and CPSoS. New challenges have emerged to demonstrate that these systems…

We present recent advances in formal verification and control for autonomous systems with practical safety guarantees enabled by conformal prediction (CP), a statistical tool for uncertainty quantification. This survey is particularly…

As integrated circuits have become progressively more complex, constrained random stimulus has become ubiquitous as a means of stimulating a designs functionality and ensuring it fully meets expectations. In theory, random stimulus allows…

Automated driving systems are safety-critical cyber-physical systems whose safety of the intended functionality (SOTIF) can not be assumed without proper argumentation based on appropriate evidences. Recent advances in standards and…

Machine Vision (MV) is essential for solving driving automation. This paper examines potential shortcomings in current MV testing strategies for highly automated driving (HAD) systems. We argue for a more comprehensive understanding of the…