Related papers: A Safety Constrained Control Framework for UAVs in…
Autonomous landing of Uncrewed Aerial Vehicles (UAVs) on oscillating marine platforms is severely constrained by wave-induced multi-frequency oscillations, wind disturbances, and prediction phase lags in motion prediction. Existing methods…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
Unmanned aerial vehicles (UAVs) are becoming more common, and their operational range is expanding tremendously, making the security aspect of the inquiry essential. This study does a thorough assessment of the literature to determine the…
GPS spoofing poses a growing threat to aviation by falsifying satellite signals and misleading aircraft navigation systems. This paper demonstrates a proof-of-concept spoofing detection strategy based on analyzing satellite Carrier-to-Noise…
Global Positioning System (GPS) spoofing involves transmitting fake signals that mimic those from GPS satellites, causing the GPS receivers to calculate incorrect Positioning, Navigation, and Timing (PNT) information. Recently, there has…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
Air traffic management (ATM) of manned and unmanned aerial vehicles (AVs) relies critically on ubiquitous location tracking. While technologies exist for AVs to broadcast their location periodically and for airports to track and detect AVs,…
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…
This research is motivated by a scenario where a group of UAVs is assigned to map an unknown scalar field, with the imperative of maintaining a safe distance from the sources of the field to evade detection or damage. The location of the…
Our work is motivated by environmental monitoring tasks, where finding the global maxima (i.e., hotspot) of a spatially varying field is crucial. We investigate the problem of identifying the hotspot for fields that can be sensed using an…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Accurate state estimation in Unmanned Aerial Vehicles (UAVs) is crucial for ensuring reliable and safe operation, as anomalies occurring during mission execution may induce discrepancies between expected and observed system behaviors,…
Wildland fire fighting is a very dangerous job, and the lack of information of the fire front is one of main reasons that causes many accidents. Using unmanned aerial vehicle (UAV) to cover wildfire is promising because it can replace human…
In this study, we propose an innovative method for the real-time detection of GPS spoofing attacks targeting drones, based on the video stream captured by a drone's camera. The proposed method collects frames from the video stream and their…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…