相关论文: Generation of Time-Varying Impedance Attacks Again…
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
Cyber-physical systems (CPS), such as autonomous vehicles crossing an intersection, are vulnerable to cyber-attacks and their safety-critical nature makes them a target for malicious adversaries. This paper studies the problem of…
This paper establishes analytical stability criteria for robot-mediated human-human (dyadic) interaction systems, focusing on haptic communication under network-induced time delays. Through frequency-domain analysis supported by numerical…
Adversarial scenario generation is a cost-effective approach for safety assessment of autonomous driving systems. However, existing methods are often constrained to a single, fixed trade-off between competing objectives such as…
Adaptive Cruise Control (ACC) is a widely used driver assistance technology for maintaining the desired speed and safe distance to the leading vehicle. This paper evaluates the security of the deep neural network (DNN) based ACC systems…
The increasing, high-risk interactions between vehicles and vulnerable micromobility users, such as e-scooter riders, challenge vehicular safety functions and Automated Driving (AD) techniques, often resulting in severe consequences due to…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Most state-of-the-art machine learning (ML) classification systems are vulnerable to adversarial perturbations. As a consequence, adversarial robustness poses a significant challenge for the deployment of ML-based systems in safety- and…
Road safety continues to be a pressing global issue, with vehicle collisions imposing significant human, societal, and economic burdens. Human-machine shared collision avoidance in critical collision scenarios aims to aid drivers' accident…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
Machine learning-based forecasting models are commonly used in Intelligent Transportation Systems (ITS) to predict traffic patterns and provide city-wide services. However, most of the existing models are susceptible to adversarial attacks,…
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…
In conditional automation, a response from the driver is expected when a take over request is issued due to unexpected events, emergencies, or reaching the operational design domain boundaries. Cooperation between the automated driving…
Automatic emergency steering maneuvers can be used to avoid more obstacles than emergency braking alone. While a steer-by-wire system can decouple the driver who might act as a disturbance during the emergency steering maneuver, the…
Deep neural networks have demonstrated their capability to learn control policies for a variety of tasks. However, these neural network-based policies have been shown to be susceptible to exploitation by adversarial agents. Therefore, there…
Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-damping system. Consequently, the robot behavior can be determined…
Traffic jams occurring on highways cause increased travel time as well as increased fuel consumption and collisions. Traffic jams without a clear cause, such as an on-ramp or an accident, are called phantom traffic jams and are said to make…
Recent works investigated attacks on sensors by influencing analog sensor components with acoustic, light, and electromagnetic signals. Such attacks can have extensive security, reliability, and safety implications since many types of the…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…