eesti teaduste
akadeemia kirjastus
SINCE 1952
Proceeding cover
of the estonian academy of sciences
ISSN 1736-7530 (Electronic)
ISSN 1736-6046 (Print)
Impact Factor (2021): 1.024
Multi-layer cyber-physical control method for mobile robot safety systems; pp. 383–391
PDF | 10.3176/proc.2021.4.03

Heiko Pikner, Raivo Sell, Jüri Majak, Kristo Karjust

Self-driving vehicles and mobile robots are used more and more in public transportation and industrial companies. Multiple experimental platforms, which can be operated in an urban or industrial environment, have been developed recently. The key development for robust and safe control of the robot’s operation relies on the low-level cyber-physical system (CPS). CPS is composed of a collection of tightly integrated computational (cyber) units that are communicating with the physical world. CPS integrates computation and communication aspects with control and monitoring techniques. In this paper, the scientific goals underscore the analysis of the existing state-of-the-art solutions to increase the security, safety, and reliability of the multiple experimental platforms. Extra attention is paid to risk evaluation.


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