Related papers: Application of Evidential Reasoning to Helicopter …
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…
As the technology for building knowledge based systems has matured, important lessons have been learned about the relationship between the architecture of a system and the nature of the problems it is intended to solve. We are implementing…
Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…
Strategic planning is critical for multi-step reasoning, yet compact Large Language Models (LLMs) often lack the capacity to formulate global strategies, leading to error propagation in long-horizon tasks. Our analysis reveals that LLMs…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
The output-error method is a mainstay of aircraft system identification from flight-test data. It is the method of choice for a wide range of applications, from the estimation of stability and control derivatives for aerodynamic database…
Estimating camera motion from monocular video is a fundamental problem in computer vision, central to tasks such as SLAM, visual odometry, and structure-from-motion. Existing methods that recover the camera's heading under known rotation,…
Atmospheric powered descent guidance can be solved by successive convexification; however, its onboard application is impeded by the sharp increase in computation caused by nonlinear aerodynamic forces. The problem has to be converted into…
End-to-end autonomous driving has emerged as a pivotal direction in the field of autonomous systems. Recent works have demonstrated impressive performance by incorporating high-level guidance signals to steer low-level trajectory planners.…
Mathematical reasoning through Chain-of-Thought (CoT) has emerged as a powerful capability of Large Language Models (LLMs), which can be further enhanced through Test-Time Scaling (TTS) methods like Beam Search and DVTS. However, these…
This paper proposes a novel approach to analyzing multi-hop reasoning in language models through Hamiltonian mechanics. We map reasoning chains in embedding spaces to Hamiltonian systems, defining a function that balances reasoning…
This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $SE_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the…
Employing Unmanned Aircraft Systems (UAS) beyond visual line of sight (BVLOS) is an endearing and challenging task. While UAS have the potential to significantly enhance today's logistics and emergency response capabilities, unmanned flying…
In this paper, we present two methods to provide explanations for reasoning with belief functions in the valuation-based systems. One approach, inspired by Strat's method, is based on sensitivity analysis, but its computation is simpler…
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
Accurate long-horizon vessel trajectory prediction remains challenging due to compounded uncertainty from complex navigation behaviors and environmental factors. Existing methods often struggle to maintain global directional consistency,…
Multi-step processes via large language models (LLMs) have proven effective for solving complex reasoning tasks. However, the depth of exploration of the reasoning procedure can significantly affect the task performance. Existing methods to…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…