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Towards a Science of Resilient Robotic Autonomy [article]

Kostas Alexis
2020 arXiv   pre-print
This discussion paper aims to support the argument process for the need to develop a comprehensive science of resilient robotic autonomy.  ...  Its current form is based on thoughts identified within the ongoing experience of conducting research for robotic systems to gain autonomy in certain types of extreme environments such as subterranean  ...  A second research goal is to address how robotic teamed resilience is established against attacks on one or more agents of the multi-robot system [27] .  ... 
arXiv:2004.02403v1 fatcat:wrhif23ezrbodjkg2kfaniyk44

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2021 2021 16th International Conference of System of Systems Engineering (SoSE)  
Janhäll -Resilience in systems of systems: electrified transport systems, pp 162-167 Tor Arne Johansen -MBSE modeling of a SoS with a small satellite and autonomous surface vessels for persistent  ...  human-robotic teaming, pp 19-24 INDEX BY AUTHOR Su Gao -pp 37-42 Ivan Hernandez -Test and Evaluation Framework for Multi-Agent Systems of Autonomous Intelligent Agents, pp 203-209 Paul C.  ... 
doi:10.1109/sose52739.2021.9497481 fatcat:dpglzeipjvdq7drnkcoght3tei

Addressing Non-Intervention Challenges via Resilient Robotics utilizing a Digital Twin [article]

Sam Harper, Shivoh Nandakumar, Daniel Mitchell, Jamie Blanche, Osama Zaki, Theodore Lim, Ikuo Yamamoto, David Flynn
2022 arXiv   pre-print
Multi-robot systems face challenges in reducing human interventions as they are often deployed in dangerous environments.  ...  This digital twin considers mission resilience, decision making and a run-time reliability ontology for failure detection to enable the resilience of a multi-robot fleet.  ...  A key barrier in the deployment of fully autonomous robots includes autonomous systems which can meet safety compliance requirements.  ... 
arXiv:2203.15698v1 fatcat:uf4xbxxeubdujiyxrx2cwcrc5a

Modelling resilient collaborative multi-agent systems

Inna Vistbakka, Elena Troubitsyna
2020 Computing  
Our patterns facilitate modelling behaviour of resilient multi-agent systems in a rigorous systematic way and verification of their properties.  ...  To ensure resilience of multi-agent systems, we should endow them with a capability to dynamically reconfigure.  ...  We will show how our generic formalisation presented in Sect. 2 and the Event-B modelling patterns can be instantiated and used to model a resilient multi-robotic systems.  ... 
doi:10.1007/s00607-020-00861-2 fatcat:sblfs5pyyvhhbpb3hvwikvq6dq

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems [article]

Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar
2021 arXiv   pre-print
multi-robot systems is paramount.  ...  In this survey article, we analyze how resilience is achieved in networks of agents and multi-robot systems that are able to overcome adversity by leveraging system-wide complementarity, diversity, and  ...  Not surprisingly, robustness has also been a key objective in the design and deployment of modern multi-robot systems, from service robots for factory automation to autonomous transportation systems, where  ... 
arXiv:2109.12343v1 fatcat:vxt62eluljfelcifzdlosv34cq

Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions [article]

Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi
2021 arXiv   pre-print
The proposed approach was deployed on multiple physical systems including skid-steer and tracked robots, a high-speed RC car and legged robots, as a part of Team CoSTAR's effort to the DARPA Subterranean  ...  We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes  ...  Acknowledgements The authors would like to thank Anushri Dixit and Joel Burdick for support with the Ackermann robot and members of Team CoSTAR for their hardware and testing support.  ... 
arXiv:2101.11110v1 fatcat:w2xoiusrozca3hteq7qjhwwuy4

Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms [article]

Daniel Mitchell, Jamie Blanche, Osama Zaki, Joshua Roe, Leo Kong, Samuel Harper, Valentin Robu, Theodore Lim, David Flynn
2021 arXiv   pre-print
To address safety and resilience challenges we propose a Symbiotic System Of Systems Approach (SSOSA), reflecting the lifecycle learning and co-evolution with knowledge sharing for mutual gain of robotic  ...  Barriers to Beyond Visual Line of Sight (BVLOS) robotics include operational safety compliance and resilience, inhibiting the commercialization of autonomous services offshore.  ...  ACKNOWLEDGEMENTS This research was funded by the Offshore Robotics for the Certification of Assets (ORCA) Hub [EP/R026173/1], EPSRC Holistic Operation and Maintenance for Energy (HOME) from Offshore Wind  ... 
arXiv:2101.09491v3 fatcat:wndjigo2gfaavksx5hxihfvjsm

Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms

Daniel Mitchell, Jamie Blanche, Osama Zaki, Joshua Roe, Leo Kong, Samuel Harper, Valentin Robu, Theodore Lim, David Flynn
2021 IEEE Access  
ACKNOWLEDGEMENTS This research was funded by the Offshore Robotics for the Certification of Assets (ORCA) Hub [EP/R026173/1], EPSRC Holistic Operation and Maintenance for Energy (HOME) from Offshore Wind  ...  Scenario Modelling A multi-level 'Adapt and Survive' paradigm requires proactive system interrogation and response.  ...  The MEDUSA project represents another example of a multi-robot platform for autonomous operation and maintenance of offshore wind farms [43] .  ... 
doi:10.1109/access.2021.3117727 fatcat:oqabgsb7wrbkjbntkzvftxyd4q

Autonomous Aerial Robotic Surveying and Mapping with Application to Construction Operations [article]

Huan Nguyen, Frank Mascarich, Tung Dang, Kostas Alexis
2020 arXiv   pre-print
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking  ...  The robotic system can operate assuming either no prior knowledge of the environment or by integrating a prior model of it.  ...  Instances and indicative results of autonomous mapping nd characterization missions conducted using the Robotized Construction Site Surveyor system.  ... 
arXiv:2005.04335v1 fatcat:xpxnmkj7xfglnibp426k77qdsy

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots [article]

Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter (+1 others)
2022 arXiv   pre-print
can be particularly challenging, this work is structured around the synergy of an onboard exploration path planner that allows for resilient long-term autonomy, and a multi-robot coordination framework  ...  This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots.  ...  INTRODUCTION The collective progress in robotic systems has enabled their utilization in a multitude of autonomous exploration and mapping missions.  ... 
arXiv:2111.06482v2 fatcat:z6p3xjljsjgsvdle7moftytj5e

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning  ...  This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge  ...  and Defense Advanced Research Projects Agency (DARPA). 1 We also would like to thank our collaborators and sponsors including Boston Dynamics, JPL office of strategic investments, Intel, Clearpath Robotics  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Risks of Deep Reinforcement Learning Applied to Fall Prevention Assist by Autonomous Mobile Robots in the Hospital

Takaaki Namba, Yoji Yamada
2018 Big Data and Cognitive Computing  
In this paper, we discuss safety applications related to AI in fields where humans and robots coexist, especially when applying deep reinforcement learning to the control of autonomous mobile robots.  ...  Second, we extract the risks linked to the use of autonomous mobile assistant robots based on deep reinforcement learning for patients in a hospital.  ...  For systems with stochastic uncertainty (such as robots applying AI), resilience is also necessary. In our experiment, we handled this with a safety reward.  ... 
doi:10.3390/bdcc2020013 fatcat:mkj423ijjjfx5fohamjm5nu7ze

Guest editorial: special issue on multi-robot and multi-agent systems

Nora Ayanian, Paolo Robuffo Giordano, Robert Fitch, Antonio Franchi, Lorenzo Sabattini
2020 Autonomous Robots  
This special issue presents contributions that describe state-of-the-art results in distributed robotics and multi-agent systems research as applicable to autonomous robot systems.  ...  Future robots will form a backbone of pervasive, efficient networks of taskable agents-but, crucially, these will be systems of communicating, cooperative devices.  ...  The special issue arose in part from the first IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), an initiative of the IEEE RAS Technical Committee on Multi-Robot Systems.  ... 
doi:10.1007/s10514-020-09908-x fatcat:ty4zagmoa5bolojtkwg3gekenm

An Overview of Federated Learning at the Edge and Distributed Ledger Technologies for Robotic and Autonomous Systems [article]

Yu Xianjia, Jorge Peña Queralta, Jukka Heikkonen, Tomi Westerlund
2021 arXiv   pre-print
At the same time, advances in deep learning (DL) have significantly raised the degree of autonomy and level of intelligence of robotic and autonomous systems.  ...  This survey covers applications of FL to autonomous robots, analyzes the role of DLT and FL for these systems, and introduces the key background concepts and considerations in current research.  ...  Applications of FL In Robotic and Autonomous System Networked robotic and autonomous systems are becoming ubiquitous.  ... 
arXiv:2104.10141v2 fatcat:x4mysoxyzzagpjxpzmpxu2af4q

Resilience of Multi-robot Systems to Physical Masquerade Attacks

Kacper Wardega, Roberto Tron, Wenchao Li
2019 2019 IEEE Security and Privacy Workshops (SPW)  
The advent of autonomous mobile multi-robot systems has driven innovation in both the industrial and defense sectors.  ...  The integration of such systems in safety-and securitycritical applications has raised concern over their resilience to attack.  ...  We show that our method can find a multi-agent plan with the guaranteed resilience (if one exists) under a strong attacker model where an agent is completely compromised and has full knowledge of the plan  ... 
doi:10.1109/spw.2019.00031 dblp:conf/sp/WardegaTL19 fatcat:3pzythll3bglzcxqt5ctzb3nse
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