相关论文: A Failure Identification and Recovery Framework fo…
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…
A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…
Reconstructing the trajectories of charged particles in high-energy collisions requires high precision to ensure reliable event reconstruction and accurate downstream physics analyses. In particular, both precise hit selection and…
Robust beamforming design under imperfect channel state information (CSI) is a fundamental challenge in multiuser multiple-input multiple-output (MU-MIMO) systems, particularly when the channel estimation error statistics are unknown.…
Post-disaster crew dispatch is a critical but computationally intensive task. Traditional mixed-integer linear programming methods often require minutes to several hours to compute solutions, leading to delays that hinder timely…
Now a days, Internet plays a major role in our day to day activities e.g., for online transactions, online shopping, and other network related applications. Internet suffers from slow convergence of routing protocols after a network failure…
In large-scale LLM pre-training systems with 100k+ GPUs, failures become the norm rather than the exception, and restart costs can dominate wall-clock training time. However, existing fault-tolerance mechanisms are largely unprepared for…
Assistive robotic devices are a particularly promising field of application for neural networks (NN) due to the need for personalization and hard-to-model human-machine interaction dynamics. However, NN based estimators and controllers may…
Damage recovery is critical for autonomous robots that need to operate for a long time without assistance. Most current methods are complex and costly because they require anticipating each potential damage in order to have a contingency…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
A new high-level implementation independent functional fault model for control faults in microprocessors is introduced. The fault model is based on the instruction set, and is specified as a set of data constraints to be satisfied by test…
This paper considers the problem of parameter identification for a multirobot system. We wish to understand when is it feasible for an adversarial observer to reverse-engineer the parameters of tasks being performed by a team of robots by…
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs…
Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage of unsafe states. This limitation leads…
The goal of diagnosis is to compute good repair strategies in response to anomalous system behavior. In a decision theoretic framework, a good repair strategy has low expected cost. In a general formulation of the problem, the computation…
Debugging Cyber-Physical System (CPS) models can be extremely complex. Indeed, only the detection of a failure is insuffcient to know how to correct a faulty model. Faults can propagate in time and in space producing observable…
We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinematics model of a six Degrees-of-Freedom (DoF) robotic arm…
Robots have limited adaptation ability compared to humans and animals in the case of damage. However, robot damages are prevalent in real-world applications, especially for robots deployed in extreme environments. The fragility of robots…
State-of-the-art schemes for performance analysis and optimization of multiple-input multiple-output systems generally experience degradation or even become invalid in dynamic complex scenarios with unknown interference and channel state…
The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…