Related papers: End-to-end Analysis and Design of a Drone Flight C…
This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position…
Networked robotic systems balance compute, power, and latency constraints in applications such as self-driving vehicles, drone swarms, and teleoperated surgery. A core problem in this domain is deciding when to offload a computationally…
Drone swarms coupled with data intelligence can be the future of wildfire fighting. However, drone swarm firefighting faces enormous challenges, such as the highly complex environmental conditions in wildfire scenes, the highly dynamic…
This paper proposes a novel framework for autonomous drone navigation through a cluttered environment. Control policies are learnt in a low-level environment during training and are applied to a complex environment during inference. The…
This paper reports on the integration of runtime monitoring into fully-electric aircraft designed by Volocopter, a German aircraft manufacturer of electric multi-rotor helicopters. The runtime monitor recognizes hazardous situations and…
Tracers provide users with useful information about program executions. In this article, we propose a ``tracer driver''. From a single tracer, it provides a powerful front-end enabling multiple dynamic analysis tools to be easily…
End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…
A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…
Autonomous drones have gained considerable attention for applications in real-world scenarios, such as search and rescue, inspection, and delivery. As their use becomes ever more pervasive in civilian applications, failure to ensure safe…
Remote monitoring of drones has become a global objective due to emerging applications in national security and managing aerial delivery traffic. Despite their relatively small size, drones can carry significant payloads, which require…
This paper studies end-to-end latency minimization for a multi-band radar sensing and deep neural network (DNN) inference pipeline. Unlike conventional stage-wise designs that treat radar sensing and DNN inference as two sequential stages,…
Testing and validating Cyber-Physical Systems (CPSs) in the aerospace domain, such as field testing of drone rescue missions, poses challenges due to volatile mission environments, such as weather conditions. While testing processes and…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…
A well-designed control system facilitates the functions of machine operation, maintenance and development. In addition, the overall effectiveness of the control system can be greatly enhanced by providing reliable mechanisms for…
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…
Drone detection has benefited from improvements in deep neural networks, but like many other applications, suffers from the availability of accurate data for training. Synthetic data provides a potential for low-cost data generation and has…
Small, fast, and lightweight drones present significant challenges for traditional RGB cameras due to their limitations in capturing fast-moving objects, especially under challenging lighting conditions. Event cameras offer an ideal…
Drone-to-drone detection using visual feed has crucial applications, such as detecting drone collisions, detecting drone attacks, or coordinating flight with other drones. However, existing methods are computationally costly, follow…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…