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Towards a Science of Resilient Robotic Autonomy
[article]
2020
arXiv
pre-print
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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
Index by Author
2021
2021 16th International Conference of System of Systems Engineering (SoSE)
Preserved Fulltext
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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]
2022
arXiv
pre-print
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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
2020
Computing
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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]
2021
arXiv
pre-print
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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]
2021
arXiv
pre-print
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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]
2021
arXiv
pre-print
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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
2021
IEEE Access
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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]
2020
arXiv
pre-print
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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]
2022
arXiv
pre-print
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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]
2021
arXiv
pre-print
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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
2018
Big Data and Cognitive Computing
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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
2020
Autonomous Robots
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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]
2021
arXiv
pre-print
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2021 pre-print arXiv:2104.10141v1 fatcat:z3ujjvq7uffu5gqy34cgvt7qx4
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
2019
2019 IEEE Security and Privacy Workshops (SPW)
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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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