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Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated areas is a crucial aspect for successful urban deployment, particularly in emergency landing situations. Nonetheless, validating autonomous landing in real scenarios…
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…
Simulation-based virtual testing has become an essential step to ensure the safety of autonomous driving systems. Testers need to handcraft the virtual driving scenes and configure various environmental settings like surrounding traffic,…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
This paper studies safety guarantees for systems with time-varying control bounds. It has been shown that optimizing quadratic costs subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) using…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D…
The rapid growth of consumer Unmanned Aerial Vehicles (UAVs) is creating promising new business opportunities for cellular operators. On the one hand, UAVs can be connected to cellular networks as new types of user equipment, therefore…
Unmanned aerial vehicles (UAVs) are widely applied in civil applications, such as disaster relief, agriculture and cargo transportation, etc. With the massive number of UAV flight activities, the anti-collision technologies aiming to avoid…
Over the last decade, Unmanned Aerial Vehicles (UAVs) have been extensively used in many commercial applications due to their manageability and risk avoidance. One of the main problems considered is the Mission Planning for multiple UAVs,…
Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…
Safety has been of paramount importance in motion planning and control techniques and is an active area of research in the past few years. Most safety research for mobile robots target at maintaining safety with the notion of collision…
The exponential growth of Advanced Air Mobility (AAM) services demands assurances of safety in the airspace. This research a Traffic Control Framework (TCF) for developing digital flight rules for Uncrewed Aircraft System (UAS) flying in…
Fuzz testing effectively uncovers software vulnerabilities; however, it faces challenges with Autonomous Systems (AS) due to their vast search spaces and complex state spaces, which reflect the unpredictability and complexity of real-world…
In this paper, we propose RFUAV as a new benchmark dataset for radio-frequency based (RF-based) unmanned aerial vehicle (UAV) identification and address the following challenges: Firstly, many existing datasets feature a restricted variety…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
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…
Unmanned aerial vehicles (UAV) have been recognized as a versatile platform for a wide range of services. During the flight, these vehicles must avoid collisions to operate safely. In this way, they demand to keep spatial awareness, i.e.,…
Autonomous Unmanned Aerial Vehicles (UAVs) have become essential tools in defense, law enforcement, disaster response, and product delivery. These autonomous navigation systems require a wireless communication network, and of late are deep…