Related papers: Verification Framework for Control System Function…
Learning reliably safe autonomous control is one of the core problems in trustworthy autonomy. However, training a controller that can be formally verified to be safe remains a major challenge. We introduce a novel approach for learning…
An intent modelling and inference framework is presented to assist the defense planning for protecting a geo-fence against unauthorized flights. First, a novel mathematical definition for the intent of an uncrewed aircraft system (UAS) is…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
Non-Fungible Tokens (NFTs) have emerged as a revolutionary method for managing digital assets, providing transparency and secure ownership records on a blockchain. In this paper, we present a theoretical framework for leveraging NFTs to…
Unmanned aerial systems capable of beyond visual line of sight operation can be organized into a top-down hierarchy of layers including flight supervision, command and control, simulation of systems, operating systems, and physical…
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
There is a space of uncertainty in the modeling of vehicular dynamics of autonomous systems due to noise in sensor readings, environmental factors or modeling errors. We present Requiem, a software-only, blackbox approach that exploits this…
This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…
A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit…
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a…
Safety and mission performance validation of autonomous vehicles (AVs) is a major challenge. In this paper we describe a methodology for constructing and applying assertion checks to validate the behaviour of an AV operating either in…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
We apply a compositional formal modeling and verification method to an autonomous aircraft taxi system. We provide insights into the modeling approach and we identify several research areas where further development is needed. Specifically,…
Formal verification provides mathematical guarantees that a software is correct. Design-level verification tools ensure software specifications are correct, but they do not expose defects in actual implementations. For this purpose,…
Scenario-based testing using simulations is a cornerstone of Autonomous Vehicles (AVs) software validation. So far, developers needed to choose between low-fidelity 2D simulators to explore the scenario space efficiently, and high-fidelity…
Drone technology is proliferating in many industries, including agriculture, logistics, defense, infrastructure, and environmental monitoring. Vision-based autonomy is one of its key enablers, particularly for real-world applications. This…