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View article: Digital-Twin Evaluation for Proactive Human-Robot Collision Avoidance via Prediction-Guided A-RRT*
Digital-Twin Evaluation for Proactive Human-Robot Collision Avoidance via Prediction-Guided A-RRT* Open
Human-robot collaboration requires precise prediction of human motion over extended horizons to enable proactive collision avoidance. Unlike existing planners that rely solely on kinodynamic models, we present a prediction-driven safe plan…
View article: Risk-Aware Control for Insulin Delivery via Nonlinear MPC with Safety Barrier Functions and Probabilistic Learning of Uncertainties
Risk-Aware Control for Insulin Delivery via Nonlinear MPC with Safety Barrier Functions and Probabilistic Learning of Uncertainties Open
Maintaining blood glucose within a physiologically safe range is critical for people with diabetes, as deviations can lead to acute or chronic complications. Hypoglycemia, in particular, represents an immediate threat and requires prioriti…
View article: Embodied Hazard Mitigation using Vision-Language Models for Autonomous Mobile Robots
Embodied Hazard Mitigation using Vision-Language Models for Autonomous Mobile Robots Open
Autonomous robots operating in dynamic environments should identify and report anomalies. Embodying proactive mitigation improves safety and operational continuity. This paper presents a multimodal anomaly detection and mitigation system t…
View article: Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios
Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios Open
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate poten…
View article: A Virtual Fencing Framework for Safe and Efficient Collaborative Robotics
A Virtual Fencing Framework for Safe and Efficient Collaborative Robotics Open
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 …
View article: Robust Control of Autonomous Robotic Vehicles Using Nonlinear Model Predictive Controller
Robust Control of Autonomous Robotic Vehicles Using Nonlinear Model Predictive Controller Open
The proposed chapter will explore the application of robust control methods for electric connected autonomous robotic vehicles (EACVs) with a focus on robust control techniques. As the demand for autonomous mobility increases, ensuring the…
View article: Observer-Based Adaptive Neural Control of Quadrotor Unmanned Aerial Vehicles Subject to Model Uncertainties and External Disturbances
Observer-Based Adaptive Neural Control of Quadrotor Unmanned Aerial Vehicles Subject to Model Uncertainties and External Disturbances Open
Quadrotor unmanned aerial vehicles (QUAVs) are widely recognized for their versatility and advantages across diverse applications. However, their inherent instability and underactuated dynamics pose significant challenges, particularly und…
View article: High-Resolution Safety Verification for Evasive Obstacle Avoidance in Autonomous Vehicles
High-Resolution Safety Verification for Evasive Obstacle Avoidance in Autonomous Vehicles Open
This paper presents a comprehensive hazard analysis, risk assessment, and loss evaluation for an Evasive Minimum Risk Maneuvering (EMRM) system designed for autonomous vehicles. The EMRM system is designed to improve collision avoidance an…
View article: LLM-Enhanced Path Planning: Safe and Efficient Autonomous Navigation with Instructional Inputs
LLM-Enhanced Path Planning: Safe and Efficient Autonomous Navigation with Instructional Inputs Open
Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for pl…
View article: Safety Verification for Evasive Collision Avoidance in Autonomous Vehicles with Enhanced Resolutions
Safety Verification for Evasive Collision Avoidance in Autonomous Vehicles with Enhanced Resolutions Open
This paper presents a comprehensive hazard analysis, risk assessment, and loss evaluation for an Evasive Minimum Risk Maneuvering (EMRM) system designed for autonomous vehicles. The EMRM system is engineered to enhance collision avoidance …
View article: Enhancing Autonomous Driving Safety Analysis with Generative AI: A Comparative Study on Automated Hazard and Risk Assessment
Enhancing Autonomous Driving Safety Analysis with Generative AI: A Comparative Study on Automated Hazard and Risk Assessment Open
The advent of autonomous driving technology has accentuated the need for comprehensive hazard analysis and risk assessment (HARA) to ensure the safety and reliability of vehicular systems. Traditional HARA processes, while meticulous, are …
View article: Safety Prioritization by Iterative Feedback Linearization Control for Collaborative Robots
Safety Prioritization by Iterative Feedback Linearization Control for Collaborative Robots Open
In today’s expanding landscape of intelligent autonomous robotic systems, their applications extend far beyond industrial settings, encompassing diverse operational domains and unconfined use cases, including close collaboration with human…
View article: Explainable Autonomous Mobile Robots: Interface and Socially Aware Learning
Explainable Autonomous Mobile Robots: Interface and Socially Aware Learning Open
With the growing utilization of mobile robots in urban environments, one can expect more interaction of mobile robots with people in shared spaces. It is important that these robots navigate among people in a socially acceptable manner and…
View article: Artificial Neural Networks-Based Fault Localization in Distributed Generation Integrated Networks Considering Fault Impedance
Artificial Neural Networks-Based Fault Localization in Distributed Generation Integrated Networks Considering Fault Impedance Open
This paper proposes a fault location and protection method for power distribution system with Distributed generation (DG) resources, considering fault impedance. A multi-layer perceptron (MLP) Artificial Neural Network (ANN)-based approach…
View article: Safe Iterative Feedback Linearization Control Design for Collaborative Robots
Safe Iterative Feedback Linearization Control Design for Collaborative Robots Open
— Intelligent autonomous robotic systems are not limited to industrial applications and are being used for professional service and household domains. The vast amount of these robots are designed to work alongside humans in close proximity…
View article: Safe Iterative Feedback Linearization Control Design for Collaborative Robots
Safe Iterative Feedback Linearization Control Design for Collaborative Robots Open
— Intelligent autonomous robotic systems are not limited to industrial applications and are being used for professional service and household domains. The vast amount of these robots are designed to work alongside humans in close proximity…
View article: Safe motion control and planning for autonomous racing vehicles
Safe motion control and planning for autonomous racing vehicles Open
In the future of the autonomous car industry saving lives might depend on more demanding maneuvers than what the average drivers know how to do. Professional race car drivers, as well as some skilled stunt drivers, are able to exteremely p…