Related papers: Verification Framework for Control System Function…
Each new concept of operation and equipment generation in aviation becomes more automated, integrated and interconnected. In the case of Unmanned Aircraft Systems (UAS), this evolution allows drastically decreasing aircraft weight and…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
Neural network controllers have shown potential in achieving superior performance in feedback control systems. Although a neural network can be trained efficiently using deep and reinforcement learning methods, providing formal guarantees…
Ensuring that autonomous space robot control software behaves as it should is crucial, particularly as software failure in space often equates to mission failure and could potentially endanger nearby astronauts and costly equipment. To…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
Unmanned Aerial Vehicles (UAVs) are one of the most revolutionary inventions of 21st century. At the core of a UAV lies the central processing system that uses wireless signals to control their movement. The most popular UAVs are…
This study presents an inspecting system using real-time control unmanned aerial vehicles (UAVs) to investigate structural surfaces. The system operates under favourable weather conditions to inspect a target structure, which is the…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Currently, unmanned aerial vehicles, such as drones, are becoming a part of our lives and reaching out to many areas of society, including the industrialized world. A common alternative to control the movements and actions of the drone is…
To provide safety guarantees for learning-based control systems, recent work has developed formal verification methods to apply after training ends. However, if the trained policy does not meet the specifications, or there is conservatism…
Regulatory approval and safety guarantees for autonomous vehicles facing frequent functional updates and complex software stacks, including artificial intelligence, are a challenging topic. This paper proposes a concept and guideline for…
Unmanned Aerial Vehicles (UAVs) are indispensable for infrastructure inspection, surveillance, and related tasks, yet they also introduce critical security challenges. This survey provides a wide-ranging examination of the anti-UAV domain,…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…
The proliferation of Deep Neural Networks has resulted in machine learning systems becoming increasingly more present in various real-world applications. Consequently, there is a growing demand for highly reliable models in many domains,…
Every aspect of our life depends on the ability to communicate effectively. Organizations that manage to establish communication routines, protocols and means thrive. An Aerial Traffic Management System operates similarly as an organization…
Formal verification of neuro-symbolic cyber-physical systems, such as drones, medical devices and robots, is complicated. Neural components must be trained to be optimal with respect to the available data as well as the safety…
This work presents a framework for control theory based on constructive analysis to account for discrepancy between mathematical results and their implementation in a computer, also referred to as computational uncertainty. In control…