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CPS: TTP Option: Synergy: Safe and Secure Open-Access Multi-Robot Systems

CPS：TTP 选项：协同：安全可靠的开放访问多机器人系统

基本信息

批准号：
1544332
负责人：
Magnus Egerstedt
金额：
$ 100万
依托单位：
Georgia Tech Research Corporation
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2015
资助国家：
美国
起止时间：
2015-10-01 至 2019-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1544332&HistoricalAwards=false
关键词：
CPS TTP Option Synergy Safe

项目摘要

This proposal addresses the safety and security issues that arise when giving users remote-access to a multi-robot research test-bed, where mobile robots can coordinate their behaviors in a collaborative manner. Through a public interface, users are able to schedule, and subsequently upload, their own code and run their experiments, while being provided with the scientific data produced through the experiment. Such an open-access framework has the potential to significantly lowering the barriers to entry in robotics research and education, yet is inherently vulnerable from a safety and security point-of-view. This proposal aims at the development and definition of appropriate cyber-physical security notions, formal verification algorithms, and safety-critical, real-time control code for teams of mobile robots that will ultimately make such a system both useful and safe. On top of the research developments, this proposal contains a Transition to Practice component that will allow the system to become a highly usable, shared test-bed; one that can serve as a model for other open, remote-access test-beds.Safety is of central importance to the successful realization of any remote-access test-bed and failure to enforce safety could result in injury in local operators and damaged equipment. To guarantee safe operation, while allowing users to test algorithms remotely, new science is required in the domain of safety-critical control. To address this need, the proposed work follows a three-pronged approach, namely (1) development and use of novel types of barrier certificates in the context of minimally invasive, optimization-based controllers with provable safety properties, (2) formal methods for verification of safety-critical control code for networked cyber-physical systems, and (3) novel methods for protecting against machine-to-machine cyber attacks. By bringing together ideas from multi-agent robotics, safety-critical control, formal verification, and cyber-security, this project will result in a unified and coherent approach to security in networked cyber-physical systems. The potential impact of the resulting open-access multi-robot test-bed is significant along the research, education, and general outreach dimensions in that a future generation of roboticists at institutions across the country will have open and remote access to a world-class research facility, and educators at all levels will be able to run experiments on actual robots.

该提案解决了用户远程访问多机器人研究试验台时出现的安全问题，其中移动机器人可以以协作方式协调其行为。通过公共界面，用户可以安排并随后上传自己的代码并运行实验，同时获得通过实验产生的科学数据。这种开放访问框架有可能显着降低机器人研究和教育的进入壁垒，但从安全和安保的角度来看，它本质上是脆弱的。该提案旨在为移动机器人团队开发和定义适当的网络物理安全概念、形式验证算法和安全关键的实时控制代码，最终使这样的系统既有用又安全。除了研究进展之外，该提案还包含一个过渡到实践的组件，该组件将使系统成为一个高度可用的共享测试平台；可以作为其他开放式远程访问测试台的模型。安全性对于任何远程访问测试台的成功实现至关重要，如果不加强安全性，可能会导致本地操作员受伤和设备损坏。为了保证安全运行，同时允许用户远程测试算法，安全关键控制领域需要新的科学。为了满足这一需求，拟议的工作遵循三管齐下的方法，即（1）在具有可证明安全特性的微创、基于优化的控制器的背景下开发和使用新型屏障证书，（2）验证网络网络物理系统的安全关键控制代码的正式方法，以及（3）防止机器对机器网络攻击的新方法。通过汇集多代理机器人、安全关键控制、形式验证和网络安全的想法，该项目将为网络网络物理系统的安全提供统一且连贯的方法。由此产生的开放式多机器人试验台的潜在影响在研究、教育和一般推广方面具有重大意义，因为全国各地机构的未来一代机器人专家将能够开放和远程访问世界一流的研究设施，各级教育工作者将能够在实际的机器人上进行实验。

项目成果

期刊论文数量（5）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems

表征安全性：标量比较系统的最小控制屏障函数

DOI：
10.1109/lcsys.2020.3003887
发表时间：
2021
期刊：
IEEE Control Systems Letters
影响因子：
3
作者：
Konda, Rohit;Ames, Aaron D.;Coogan, Samuel
通讯作者：
Coogan, Samuel

A Scalable Safety Critical Control Framework for Nonlinear Systems

非线性系统的可扩展安全关键控制框架

DOI：
10.1109/access.2020.3025248
发表时间：
2020
期刊：
IEEE Access
影响因子：
3.9
作者：
Gurriet, Thomas;Mote, Mark;Singletary, Andrew;Nilsson, Petter;Feron, Eric;Ames, Aaron D.
通讯作者：
Ames, Aaron D.

Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking

柔顺混合零动态行走的逆动力学控制