Related papers: A Safety Constrained Control Framework for UAVs in…
Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designing algorithms for uncrewed surface vehicles (USVs) requires…
Global Navigation Satellite Systems (GNSS) are fundamental in ubiquitously providing position and time to a wide gamut of systems. Jamming remains a realistic threat in many deployment settings, civilian and tactical. Specifically, in…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to uncertainties in the aerodynamic model of the sUAS. The controller is trained using the…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
It is well-known that GPS is vulnerable to signal spoofing attacks. Although several spoofing detection techniques exist, they are incapable of mitigation and recovery from stealthy attackers. In this work, we present SemperFi, a single…
UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…
Wild-land fire fighting is a hazardous job. A key task for firefighters is to observe the "fire front" to chart the progress of the fire and areas that will likely spread next. Lack of information of the fire front causes many accidents.…
As Cyber-Physical Systems (CPS) become increasingly pervasive and autonomous, ensuring the resilience of their embedded logic is critical to maintaining safety and integrity. Among the most stealthy and damaging threats are non-invasive…
Safety and security issues for Critical Infrastructures are growing as attackers adopt drones as an attack vector flying in sensitive airspaces, such as airports, military bases, city centers, and crowded places. Despite the use of UAVs for…
In this paper, we consider a scenario where an unmanned aerial vehicle (UAV) collects data from a set of sensors on a straight line. The UAV can either cruise or hover while communicating with the sensors. The objective is to minimize the…
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone,…
In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior…
The use of unmanned aerial vehicles (UAVs) for a variety of commercial, civilian, and defense applications has increased many folds in recent years. While UAVs are expected to transform future air operations, there are instances where they…
In the current unmanned aircraft systems (UASs) for sensing services, unmanned aerial vehicles (UAVs) transmit their sensory data to terrestrial mobile devices over the unlicensed spectrum. However, the interference from surrounding…
The integration of non-terrestrial networks (NTNs) into 6G systems is crucial for achieving seamless global coverage, particularly in underserved and disaster-prone regions. Among NTN platforms, unmanned aerial vehicles (UAVs) are…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
Integrated sensing and communication (ISAC) is a key feature of next-generation 6G wireless systems, allowing them to achieve high data rates and sensing accuracy. While prior research has primarily focused on addressing communication…
Trajectory prediction is critical for the safe planning and navigation of automated vehicles. The trajectory prediction models based on the neural networks are vulnerable to adversarial attacks. Previous attack methods have achieved high…