Related papers: Verification Framework for Control System Function…
The proliferation of Unmanned Aerial Vehicles (UAVs) embedded with vulnerable monolithic software has recently raised serious concerns about their security due to concurrency aspects and fragile communication links. However, verifying…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a…
As deep neural networks (DNNs) get adopted in an ever-increasing number of applications, explainability has emerged as a crucial desideratum for these models. In many real-world tasks, one of the principal reasons for requiring…
For drones, as safety-critical systems, there is an increasing need for onboard detect & avoid (DAA) technology i) to see, sense or detect conflicting traffic or imminent non-cooperative threats due to their high mobility with multiple…
With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…
The key concept for safe and efficient traffic management for Unmanned Aircraft Systems (UAS) is the notion of operation volume (OV). An OV is a 4-dimensional block of airspace and time, which can express an aircraft's intent, and can be…
In the age of autonomously driving vehicles, functionality and complexity of embedded systems are increasing tremendously. Safety aspects become more important and require such systems to operate with the highest possible level of fault…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
Uncrewed Aerial Vehicle (UAV) computing and networking are becoming a fundamental computation infrastructure for diverse cyber-physical application systems. UAVs can be empowered by AI on edge devices and can communicate with other UAVs and…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
This paper presents an initial design concept and specification of a civilian Unmanned Aerial Vehicle (UAV) management simulation system that focuses on explainability for the human-in-the-loop control of semi-autonomous UAVs. The goal of…
The safety of automated driving systems must be justified by convincing arguments and supported by compelling evidence to persuade certification agencies, regulatory entities, and the general public to allow the systems on public roads.…
Drones (also known as Unmanned Aerial Vehicles, UAVs) is a potential source of evidence in a digital investigation, partly due to their increasing popularity in our society. However, existing UAV/drone forensics generally rely on…
This paper presents the watch-from-sky framework, where multiple unmanned aerial vehicles (UAVs) play four roles, i.e., sensing, data forwarding, computing, and patrolling, for predictive police surveillance. Our framework is promising for…
Runtime Verification deals with the question of whether a run of a system adheres to its specification. This paper studies runtime verification in the presence of partial knowledge about the observed run, particularly where input values may…
Autonomous space vehicles need adaptive control strategies that can accommodate unanticipated environmental conditions. The evaluation of new strategies can often be done only by actually trying them out in the real physical environment.…
Periodic control systems used in spacecrafts and automotives are usually period-driven and can be decomposed into different modes with each mode representing a system state observed from outside. Such systems may also involve intensive…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…