References of "Olivares Mendez, Miguel Angel 50002787"
     in
Bookmark and Share    
Full Text
Peer Reviewed
See detail5G-SpaceLab
Querol, Jorge UL; Abdalla, Abdelrahman UL; Bokal, Zhanna UL et al

Poster (2021, April 19)

The new phase of space exploration involves a growing number of human and robotic missions with varying communication and service requirements. Continuous, maximum coverage of areas where activities are ... [more ▼]

The new phase of space exploration involves a growing number of human and robotic missions with varying communication and service requirements. Continuous, maximum coverage of areas where activities are concentrated and orbiting missions (single spacecraft or constellations) around the Earth, Moon or Mars will be particularly challenging. The standardization of the 5G Non-Terrestrial Networks (NTN) has already begun [1], and nothing prevents 5G from becoming a common communications standard supporting space resource missions [2]. The 5G Space Communications Lab (5G-SpaceLab) is an interdisciplinary experimental platform, funded by the Luxembourg Space Agency and is part of the Space Research Program of SnT. The lab allows users to design and emulate realistic space communications and control scenarios for the next-generation of space applications. The capabilities of the 5G-SpaceLab testbed combine the experience of different disciplines including space communications, space and satellite mission design, and space robotics. The most relevant include the demonstration of SDR 5G NTN terminals including NB-IoT, emulation of space communications channel scenarios (e.g. link budget, delay, Doppler…), small satellite platform and payload design and testing, satellite swarm flight formation, lunar rover and robotic arm control and AI-powered telerobotics. Earth-Moon communications is one of the scenarios demonstrated in the 5G-SpaceLab. Bidirectional communication for the teleoperation of lunar rovers for near real-time operations including data collection and sensors feedback will be tested. AI-based approaches for perception and control will be developed to overcome communication delays and to provide safer, trustworthy, and efficient remote control of the rovers. [1] 3GPP Release 17 Timeline. [Online]. Available: https://www.3gpp.org/release-17 [2] Nokia, Nokia selected by NASA to build first ever cellular network on the Moon. [Online]. Available: https://www.nokia.com/about-us/news/releases/2020/10/19/nokia-selected-by-nasa-to-build-first-ever-cellular-network-on-the-moon/ [less ▲]

Detailed reference viewed: 231 (18 UL)
Full Text
Peer Reviewed
See detailLow-light image enhancement of permanently shadowed lunar regions with physics-based machine learning
Moseley, Ben; Bickel, Valentin; Lopez-Francos, Ignacio et al

in Low-light image enhancement of permanently shadowed lunar regions with physics-based machine learning (2020, December)

Finding water(-ice) on the Moon is key to enabling a sustainable human presence on the Moon and beyond. There is evidence that water-ice is abundant in and around the Moon’s Permanently Shadowed Regions ... [more ▼]

Finding water(-ice) on the Moon is key to enabling a sustainable human presence on the Moon and beyond. There is evidence that water-ice is abundant in and around the Moon’s Permanently Shadowed Regions (PSRs), however, direct visual detection has not yet been possible. Surface ice or related physical features could potentially be directly detected from high-resolution optical imagery, but, due to the extremely low-light conditions in these areas, high levels of sensor and photon noise make this very challenging. In this work we generate high-resolution, low-noise optical images over lunar PSRs by using two physics-based deep neural networks to model and remove CCD-related and photon noise in existing low-light optical imagery, potentially paving the way for a direct water-ice detection method. [less ▲]

Detailed reference viewed: 163 (23 UL)
Full Text
Peer Reviewed
See detailTESTING ENVIRONMENTS FOR LUNAR SURFACE PERCEPTION SYSTEMS; COMBINING INDOOR FACILITIES, VIRTUAL ENVIRONMENTS AND ANALOGUE FIELD TESTS.
Ludivig, Philippe UL; Olivares Mendez, Miguel Angel UL; Calzada Diaz, Abigail et al

Scientific Conference (2020, October 21)

This paper describes the different approaches which can be used to test vision systems for operations on robotic lunar surface missions. We investigate validating systems in virtual environments, lab ... [more ▼]

This paper describes the different approaches which can be used to test vision systems for operations on robotic lunar surface missions. We investigate validating systems in virtual environments, lab environments and analogue outdoor environments and demonstrate that a combination of all three approach-es is needed to sufficiently test systems for the lunar surface. [less ▲]

Detailed reference viewed: 45 (6 UL)
Full Text
Peer Reviewed
See detailBUILDING A PIECE OF THE MOON: CONSTRUCTION OF TWO INDOOR LUNAR ANALOGUE ENVIRONMENTS
Ludivig, Philippe UL; Calzada-Diaz, Abigail; Olivares Mendez, Miguel Angel UL et al

in Proceedings of the 71st International Astronautical Congress 2020 (2020, October 12)

Developing and testing autonomous systems to ensure that they work reliably on the moon is a difficult task, as testing on location is not an option. Instead, engineers rely on simulations, testing ... [more ▼]

Developing and testing autonomous systems to ensure that they work reliably on the moon is a difficult task, as testing on location is not an option. Instead, engineers rely on simulations, testing facilities and outdoor lunar analogues. Due to the lack of lunar analogue testing facilities in Europe, ispace Europe and the University of Luxembourg have teamed up to build two of these facilities with the goal of designing new vision-based navigation systems. These systems will enable autonomous long-range traverses for lunar rovers. These two facilities have a surface area of 64 and 77 square meters, respectively. Regarding the type of testing needed for vision-based systems, the optical fidelity of the environment has been considered as the most important factor. Thus, different types of Basalt have been used for the two facilities to create a larger number of possible landscapes, such as craters, hills, rocky areas and smooth planar surfaces. Regolith simulant was also considered but, due to the health restrictions and the cost factor, basalt was selected instead. As a result, this has allowed for larger testing areas. The illumination setup has been designed to simulate the highland regions of the Moon, with a single light source positioned low above the horizon, casting long shadows over the entire area. To mitigate problems with feature detection algorithms picking up features at the edge of the facility, the walls have been painted black. This also produces high contrast shadows, which is exactly what makes vision-based navigation challenging in the polar regions. The outcome of this research is a set of lessons learned which will enable other researchers to replicate similar facilities and to reproduce the same fidelity in indoor testing for future vision-based navigation systems. [less ▲]

Detailed reference viewed: 86 (18 UL)
Full Text
Peer Reviewed
See detailTrajectory Tracking for Aerial Robots: an Optimization-Based Planning and Control Approach
Sanchez Lopez, Jose Luis UL; Castillo Lopez, Manuel UL; Olivares Mendez, Miguel Angel UL et al

in Journal of Intelligent and Robotic Systems (2020), 100

In this work, we present an optimization-based trajectory tracking solution for multirotor aerial robots given a geometrically feasible path. A trajectory planner generates a minimum-time kinematically ... [more ▼]

In this work, we present an optimization-based trajectory tracking solution for multirotor aerial robots given a geometrically feasible path. A trajectory planner generates a minimum-time kinematically and dynamically feasible trajectory that includes not only standard restrictions such as continuity and limits on the trajectory, constraints in the waypoints, and maximum distance between the planned trajectory and the given path, but also restrictions in the actuators of the aerial robot based on its dynamic model, guaranteeing that the planned trajectory is achievable. Our novel compact multi-phase trajectory definition, as a set of two different kinds of polynomials, provides a higher semantic encoding of the trajectory, which allows calculating an optimal solution but following a predefined simple profile. A Model Predictive Controller ensures that the planned trajectory is tracked by the aerial robot with the smallest deviation. Its novel formulation takes as inputs all the magnitudes of the planned trajectory (i.e. position and heading, velocity, and acceleration) to generate the control commands, demonstrating through in-lab real flights an improvement of the tracking performance when compared with a controller that only uses the planned position and heading. To support our optimization-based solution, we discuss the most commonly used representations of orientations, as well as both the difference as well as the scalar error between two rotations, in both tridimensional and bidimensional spaces $SO(3)$ and $SO(2)$. We demonstrate that quaternions and error-quaternions have some advantages when compared to other formulations. [less ▲]

Detailed reference viewed: 130 (13 UL)
Full Text
Peer Reviewed
See detailA Real-Time Approach for Chance-Constrained Motion Planning with Dynamic Obstacles
Castillo Lopez, Manuel UL; Ludivig, Philippe; Sajadi-Alamdari, Seyed Amin et al

in IEEE Robotics and Automation Letters (2020), 5(2), 3620-3625

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies ... [more ▼]

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an obstacle's space: a polyhedron, such as a cuboid, or a nonlinear differentiable surface, such as an ellipsoid. The former approach relies on disjunctive programming, which has a relatively high computational cost that grows exponentially with the number of obstacles. The latter approach needs to be linearized locally to find a tractable evaluation of the chance constraints, which dramatically reduces the remaining free space and leads to over-conservative trajectories or even unfeasibility. In this work, we present a hybrid approach that eludes the pitfalls of both strategies while maintaining the original safety guarantees. The key idea consists in obtaining a safe differentiable approximation for the disjunctive chance constraints bounding the obstacles. The resulting nonlinear optimization problem is free of chance constraint linearization and disjunctive programming, and therefore, it can be efficiently solved to meet fast real-time requirements with multiple obstacles. We validate our approach through mathematical proof, simulation and real experiments with an aerial robot using nonlinear model predictive control to avoid pedestrians. [less ▲]

Detailed reference viewed: 269 (28 UL)
Full Text
Peer Reviewed
See detailA case study on the impact of masking moving objects on the camera pose regression with CNNs
Cimarelli, Claudio UL; Cazzato, Dario UL; Olivares Mendez, Miguel Angel UL et al

in 2019 16th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS) (2019, November 25)

Robot self-localization is essential for operating autonomously in open environments. When cameras are the main source of information for retrieving the pose, numerous challenges are posed by the presence ... [more ▼]

Robot self-localization is essential for operating autonomously in open environments. When cameras are the main source of information for retrieving the pose, numerous challenges are posed by the presence of dynamic objects, due to occlusion and continuous changes in the appearance. Recent research on global localization methods focused on using a single (or multiple) Convolutional Neural Network (CNN) to estimate the 6 Degrees of Freedom (6-DoF) pose directly from a monocular camera image. In contrast with the classical approaches using engineered feature detector, CNNs are usually more robust to environmental changes in light and to occlusions in outdoor scenarios. This paper contains an attempt to empirically demonstrate the ability of CNNs to ignore dynamic elements, such as pedestrians or cars, through learning. For this purpose, we pre-process a dataset for pose localization with an object segmentation network, masking potentially moving objects. Hence, we compare the pose regression CNN trained and/or tested on the set of masked images and the original one. Experimental results show that the performances of the two training approaches are similar, with a slight reduction of the error when hiding occluding objects from the views. [less ▲]

Detailed reference viewed: 61 (9 UL)
Full Text
Peer Reviewed
See detailVision-Based Aircraft Pose Estimation for UAVs Autonomous Inspection without Fiducial Markers
Cazzato, Dario UL; Olivares Mendez, Miguel Angel UL; Sanchez Lopez, Jose Luis UL et al

in IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society (2019, October)

The reliability of aircraft inspection is of paramountimportance to safety of flights. Continuing airworthiness of air-craft structures is largely based upon the visual detection of smalldefects made by ... [more ▼]

The reliability of aircraft inspection is of paramountimportance to safety of flights. Continuing airworthiness of air-craft structures is largely based upon the visual detection of smalldefects made by trained inspection personnel with expensive,critical and time consuming tasks. At this aim, Unmanned AerialVehicles (UAVs) can be used for autonomous inspections, aslong as it is possible to localize the target while flying aroundit and correct the position. This work proposes a solution todetect the airplane pose with regards to the UAVs position whileflying autonomously around the airframe at close range forvisual inspection tasks. The system works by processing imagescoming from an RGB camera mounted on board, comparingincoming frames with a database of natural landmarks whoseposition on the airframe surface is known. The solution has beentested in real UAV flight scenarios, showing its effectiveness inlocalizing the pose with high precision. The advantages of theproposed methods are of industrial interest since we remove manyconstraint that are present in the state of the art solutions. [less ▲]

Detailed reference viewed: 92 (8 UL)
Full Text
Peer Reviewed
See detailFaster Visual-Based Localization with Mobile-PoseNet
Cimarelli, Claudio UL; Cazzato, Dario UL; Olivares Mendez, Miguel Angel UL et al

in International Conference on Computer Analysis of Images and Patterns (2019, August 22)

Precise and robust localization is of fundamental importance for robots required to carry out autonomous tasks. Above all, in the case of Unmanned Aerial Vehicles (UAVs), efficiency and reliability are ... [more ▼]

Precise and robust localization is of fundamental importance for robots required to carry out autonomous tasks. Above all, in the case of Unmanned Aerial Vehicles (UAVs), efficiency and reliability are critical aspects in developing solutions for localization due to the limited computational capabilities, payload and power constraints. In this work, we leverage novel research in efficient deep neural architectures for the problem of 6 Degrees of Freedom (6-DoF) pose estimation from single RGB camera images. In particular, we introduce an efficient neural network to jointly regress the position and orientation of the camera with respect to the navigation environment. Experimental results show that the proposed network is capable of retaining similar results with respect to the most popular state of the art methods while being smaller and with lower latency, which are fundamental aspects for real-time robotics applications. [less ▲]

Detailed reference viewed: 107 (6 UL)
Full Text
Peer Reviewed
See detailReal-Time Human Head Imitation for Humanoid Robots
Cazzato, Dario UL; Cimarelli, Claudio UL; Sanchez Lopez, Jose Luis UL et al

in Proceedings of the 2019 3rd International Conference on Artificial Intelligence and Virtual Reality (2019, July)

The ability of the robots to imitate human movements has been an active research study since the dawn of the robotics. Obtaining a realistic imitation is essential in terms of perceived quality in human ... [more ▼]

The ability of the robots to imitate human movements has been an active research study since the dawn of the robotics. Obtaining a realistic imitation is essential in terms of perceived quality in human-robot interaction, but it is still a challenge due to the lack of effective mapping between human movements and the degrees of freedom of robotics systems. If high-level programming interfaces, software and simulation tools simplified robot programming, there is still a strong gap between robot control and natural user interfaces. In this paper, a system to reproduce on a robot the head movements of a user in the field of view of a consumer camera is presented. The system recognizes the presence of a user and its head pose in real-time by using a deep neural network, in order to extract head position angles and to command the robot head movements consequently, obtaining a realistic imitation. At the same time, the system represents a natural user interface to control the Aldebaran NAO and Pepper humanoid robots with the head movements, with applications in human-robot interaction. [less ▲]

Detailed reference viewed: 168 (15 UL)
Full Text
Peer Reviewed
See detailDeep Reinforcement Learning based Continuous Control for Multicopter Systems
Manukyan, Anush UL; Olivares Mendez, Miguel Angel UL; Geist, Matthieu et al

in International Conference on Control, Decision and Information CoDIT, Paris 23-26 April 2019 (2019, April 26)

In this paper we apply deep reinforcement learning techniques on a multicopter for learning a stable hovering task in a continuous action state environment. We present a framework based on OpenAI GYM ... [more ▼]

In this paper we apply deep reinforcement learning techniques on a multicopter for learning a stable hovering task in a continuous action state environment. We present a framework based on OpenAI GYM, Gazebo and RotorS MAV simulator, utilized for successfully training different agents to perform various tasks. The deep reinforcement learning method used for the training is model-free, on-policy, actor-critic based algorithm called Trust Region Policy Optimization (TRPO). Two neural networks have been used as a nonlinear function approximators. Our experiments showed that such learning approach achieves successful results, and facilitates the process of controller design. [less ▲]

Detailed reference viewed: 89 (8 UL)
Full Text
Peer Reviewed
See detailA Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Sanchez Lopez, Jose Luis UL; Wang, Min UL; Olivares Mendez, Miguel Angel UL et al

in Journal of Intelligent and Robotic Systems (2019), 93(1-2), 33-53

Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for ... [more ▼]

Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for multirotor aerial robots to obtain a feasible, optimal and collision-free path in complex dynamic environments. High-level geometric primitives are employed to compactly represent the situation, which includes self-situation of the robot and situation of the obstacles in the environment. A probabilistic graph is utilized to sample the admissible space without taking into account the existing obstacles. Whenever a planning query is received, the generated probabilistic graph is then explored by an A$^{\star}$ discrete search algorithm with an artificial field map as cost function in order to obtain a raw optimal collision-free path, which is subsequently shortened. Realistic simulations in V-REP simulator have been created to validate the proposed path planning solution, integrating it into a fully autonomous multirotor aerial robotic system. [less ▲]

Detailed reference viewed: 254 (13 UL)
Full Text
Peer Reviewed
See detailTowards trajectory planning from a given path for multirotor aerial robots trajectory tracking
Sanchez Lopez, Jose Luis UL; Olivares Mendez, Miguel Angel UL; Castillo Lopez, Manuel UL et al

in 2018 International Conference on Unmanned Aircraft Systems (ICUAS), Dallas 12-15 June 2018 (2018, June)

Planning feasible trajectories given desired collision-free paths is an essential capability of multirotor aerial robots that enables the trajectory tracking task, in contrast to path following. This ... [more ▼]

Planning feasible trajectories given desired collision-free paths is an essential capability of multirotor aerial robots that enables the trajectory tracking task, in contrast to path following. This paper presents a trajectory planner for multirotor aerial robots carefully designed considering the requirements of real applications such as aerial inspection or package delivery, unlike other research works that focus on aggressive maneuvering. Our planned trajectory is formed by a set of polynomials of two kinds, acceleration/deceleration and constant velocity. The trajectory planning is carried out by means of an optimization that minimizes the trajectory tracking time, applying some typical constraints as m-continuity or limits on velocity, acceleration and jerk, but also the maximum distance between the trajectory and the given path. Our trajectory planner has been tested in real flights with a big and heavy aerial platform such the one that would be used in a real operation. Our experiments demonstrate that the proposed trajectory planner is suitable for real applications and it is positively influencing the controller for the trajectory tracking task. [less ▲]

Detailed reference viewed: 154 (11 UL)
Full Text
Peer Reviewed
See detailModel Predictive Control for Aerial Collision Avoidance in Dynamic Environments
Castillo Lopez, Manuel UL; Sajadi Alamdari, Seyed Amin UL; Sanchez Lopez, Jose Luis UL et al

in 26th Mediterranean Conference on Control and Automation (MED), Zadar, Croatia, 19-22 June 2018 (2018, June)

Autonomous navigation in unknown environments populated by humans and other robots is one of the main challenges when working with mobile robots. In this paper, we present a new approach to dynamic ... [more ▼]

Autonomous navigation in unknown environments populated by humans and other robots is one of the main challenges when working with mobile robots. In this paper, we present a new approach to dynamic collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). A new nonlinear model predictive control (NMPC) approach is proposed to safely navigate in a workspace populated by static and/or moving obstacles. The uniqueness of our approach lies in its ability to anticipate the dynamics of multiple obstacles, avoiding them in real-time. Exploiting active set algorithms, only the obstacles that affect to the UAV during the prediction horizon are considered at each sample time. We also improve the fluency of avoidance maneuvers by reformulating the obstacles as orientable ellipsoids, being less prone to local minima and allowing the definition of a preferred avoidance direction. Finally, we present two real-time implementations based on simulation. The former demonstrates that our approach outperforms its analog static formulation in terms of safety and efficiency. The latter shows its capability to avoid multiple dynamic obstacles. [less ▲]

Detailed reference viewed: 255 (29 UL)
Full Text
Peer Reviewed
See detailCollision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control
Dentler, Jan Eric UL; Rosalie, Martin UL; Danoy, Grégoire UL et al

in Journal of Intelligent and Robotic Systems (2018)

The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a ... [more ▼]

The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics. [less ▲]

Detailed reference viewed: 319 (32 UL)
Full Text
Peer Reviewed
See detailAnalyzing and improving multi-robot missions by using process mining
Roldán, Juan Jesús; Olivares Mendez, Miguel Angel UL; del Cerro, Jaime et al

in Autonomous Robots (2017)

Multi-robot missions can be compared to industrial processes or public services in terms of complexity, agents and interactions. Process mining is an emerging discipline that involves process modeling ... [more ▼]

Multi-robot missions can be compared to industrial processes or public services in terms of complexity, agents and interactions. Process mining is an emerging discipline that involves process modeling, analysis and improvement through the information collected by event logs. Currently, this discipline is successfully used to analyze several types of processes, but is hardly applied in the context of robotics. This work proposes a systematic protocol for the application of process mining to analyze and improve multi-robot missions. As an example, this protocol is applied to a scenario of fire surveillance and extinguishing with a fleet of UAVs. The results show the potential of process mining in the analysis of multi-robot missions and the detection of problems such as bottlenecks and inefficiencies. This work opens the way to an extensive use of these techniques in multi-robot missions, allowing the development of future systems for optimizing missions, allocating tasks to robots, detecting anomalies or supporting operator decisions. [less ▲]

Detailed reference viewed: 149 (4 UL)
Full Text
Peer Reviewed
See detailEvasive Maneuvering for UAVs: An MPC Approach
Castillo Lopez, Manuel UL; Olivares Mendez, Miguel Angel UL; Voos, Holger UL

in ROBOT'2017 - Third Iberian Robotics Conference, Sevilla, Spain, 2017 (2017, November 22)

Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive ... [more ▼]

Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive flight controller that drives the UAV through collision-free trajectories to reach a given pose or follow a way-point path. The major advantage of this approach lies on the inclusion of three-dimensional obstacle avoidance in the control layer by adding ellipsoidal constraints to the optimal control problem. The obstacles can be added, moved and resized online, providing a way to perform waypoint navigation without the need of motion planning. In addition, the delays of the system are considered in the prediction by an experimental first order with delay model of the system. Successful experiments in 3D path tracking and obstacle avoidance validates its effectiveness for sense-and-avoid and surveillance applications presenting the proper structure to extent its autonomy and applications. [less ▲]

Detailed reference viewed: 196 (22 UL)
Full Text
Peer Reviewed
See detailA Perspective of Security for Mobile Service Robots
Cornelius, Gary Philippe UL; Hochgeschwender, Nico UL; Voos, Holger UL et al

in Iberian Robotics Conference, Seville, Spain, 2017 (2017, November 22)

Future homes will contain Mobile Service Robots (MSR) with diverse functionality. MSRs act in close proximity to humans and have the physical capabilities to cause serious harm to their environment ... [more ▼]

Future homes will contain Mobile Service Robots (MSR) with diverse functionality. MSRs act in close proximity to humans and have the physical capabilities to cause serious harm to their environment. Furthermore, they have sensors that gather large amounts of data, which might contain sensitive information. A mobile service robot’s physical capabilities are controlled by networked computers susceptible to faults and intrusions. The proximity to humans and the possibility to physically interact with them makes it critical to think about the security issues of MSRs. In this work, we investigate possible attacks on mobile service robots. We survey adversary motivations to attack MSRs, analyse threat vectors and list different available defence mechanisms against attacks on MSRs. [less ▲]

Detailed reference viewed: 318 (67 UL)