相关论文: Development of CPS Platform for Autonomous Constru…

In this paper, we consider a cyber-physical manufacturing system (CPMS) scenario containing physical components (robots, sensors, and actuators), operating in a digitally connected, constrained environment to perform industrial tasks. The…

Autonomous robots require change-robust spatial-semantic reasoning: using spatial and semantic knowledge to decide where to go, how to get there, and where the robot is despite environmental change. Existing approaches typically attach…

Cyber-Physical System (CPS) represents systems that join both hardware and software components to perform real-time services. Maintaining the system's reliability is critical to the continuous delivery of these services. However, the CPS…

While many companies worldwide are still striving to adjust to Industry 4.0 principles, the transition to Industry 5.0 is already underway. Under such a paradigm, Cyber-Physical Human-centered Systems (CPHSs) have emerged to leverage…

Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…

The ability to capture different levels of abstraction in a system model is especially important for remote integration, testing/verification, and manufacturing of cyber-physical systems (CPSs). However, the complexity of modelling and…

Through the continued progress and advances of networking technology and also through efforts like Industry 4.0, SmartGrid, SmartCities, systems, that have been self-sustaining for the most part are now forming networked Cyber-physical…

The adoption of cyber-physical systems (CPS) is on the rise in complex physical environments, encompassing domains such as autonomous vehicles, the Internet of Things (IoT), and smart cities. A critical attribute of CPS is robustness,…

Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft…

The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…

Cyber-physical systems (CPS) are composed of various embedded subsystems and require specialized software, firmware, and hardware to coordinate with the rest of the system. These multiple levels of integration expose attack surfaces which…

Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…

Precision agriculture promises higher yields and sustainability, but adoption is slowed by the high cost of cyber-physical systems (CPS) and the lack of systematic design methods. We present a cost-aware design space exploration (DSE)…

Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…

Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…

This preprint presents the current status of research into the development and application of an autonomous, self-driving compost turner. The aim is to overcome challenges in the composting industry, such as adverse working conditions, by…

Because robots can directly perceive and affect the physical world, security issues take on particular importance. In this paper, we describe the results of our work on scanning the entire IPv4 address space of the Internet for instances of…

Navantia, one of Europe's largest shipbuilders, is creating a fog computing-based Industrial Cyber-Physical System (ICPS) for remote monitoring in real-time of their pipe workshops. Such a monitoring process, which involves pipe…

Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to…

Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…