Related papers: Robotics During a Pandemic: The 2020 NSF CPS Virtu…
Research in the area of Cyber-Physical Systems (CPS) is hampered by the lack of available project environments in which to explore open challenges and to propose and rigorously evaluate solutions. In this "New Ideas and Emerging Results"…
Failures in safety-critical Cyber-Physical Systems (CPS), both software and hardware-related, can lead to severe incidents impacting physical infrastructure or even harming humans. As a result, extensive simulations and field tests need to…
As the era of autonomous cyber-physical systems (ACPSs), such as unmanned aerial vehicles and self-driving cars, unfolds, the demand for robust testing methodologies is key to realizing the adoption of such systems in real-world scenarios.…
Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic…
Small teams in the field can benefit from the capabilities provided by small Uncrewed Aerial Systems (sUAS) for missions such as reconnaissance, hostile attribution, remote emplacement, and search and rescue. The mobility, communications,…
The Swarmathon is a swarm robotics programming challenge that engages college students from minority-serving institutions in NASA's Journey to Mars. Teams compete by programming a group of robots to search for, pick up, and drop off…
Small Unmanned Aircraft Systems (sUAS) will be an important component of the smart city and intelligent transportation environments of the near future. The demand for sUAS related applications, such as commercial delivery and land…
The domain of public safety in the form of search \& rescue, wildland firefighting, structure firefighting, and law enforcement operations have drawn great interest in the field of aerospace engineering, human-robot teaming, autonomous…
Effective progress monitoring is crucial for the successful delivery of the construction project within the stipulated time and budget. Construction projects are often monitored irregularly through time-consuming physical site visits by…
Cyber-Physical Systems (CPS) have the promise of presenting the next evolution in computing with potential applications that include aerospace, transportation, robotics, and various automation systems. These applications motivate advances…
In this paper we focus on the evaluation of contextual autonomy for robots. More specifically, we propose a fuzzy framework for calculating the autonomy score for a small Unmanned Aerial Systems (sUAS) for performing a task while…
The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover and deposited on…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cache, fetch and return to Earth. In this paper, we focus on…
Unmanned Aerial Vehicles (UAVs) have recently rapidly grown to facilitate a wide range of innovative applications that can fundamentally change the way cyber-physical systems (CPSs) are designed. CPSs are a modern generation of systems with…
Coronavirus disease (COVID-19) is an infectious disease caused by a newly discovered coronavirus. It is similar to influenza viruses and raises concerns through alarming levels of spread and severity resulting in an ongoing pandemic…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
Coronavirus has been spreading around the world since the end of 2019. The virus can cause acute respiratory syndrome, which can be lethal, and is easily transmitted between hosts. Most states have issued state-at-home executive orders,…
This work presents and experimentally test the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real-time, in an autonomous fashion, and under constrained communications.…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…