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Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Unmanned Aerial Systems (UAS) are currently widely used in safety-critical fields such as industrial production, military operations, and disaster relief. Due to the diversity and complexity of application scenarios, UAS have become…
In cloud manufacturing, unmanned aerial vehicles (UAVs) can support both product collection and mobile edge computing (MEC). This joint operation forms a hybrid scheduling problem, where physical logistics decisions are coupled with…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
Concept bottleneck models have been successfully used for explainable machine learning by encoding information within the model with a set of human-defined concepts. In the context of human-assisted or autonomous driving, explainability…
The communication system is a critical part of the system design for the autonomous UAV. It has to address different considerations, including efficiency, reliability and mobility of the UAV. In addition, a multi-UAV system requires a…
We demonstrate a unified approach to rigorous design of safety-critical autonomous systems using the VerifAI toolkit for formal analysis of AI-based systems. VerifAI provides an integrated toolchain for tasks spanning the design process,…
This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The…
Building domain-specific accelerators for autonomous unmanned aerial vehicles (UAVs) is challenging due to a lack of systematic methodology for designing onboard compute. Balancing a computing system for a UAV requires considering both the…
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…
The traditional multicopter design method usually requires a long iterative process to find the optimal design based on given performance requirements. The method is uneconomical and inefficient. In this paper, a practical method is…
Collapsing of structural buildings has been sighted commonly and the presence of potential faults has proved to be damaging to the buildings, resulting in accidents. It is essential to continuously monitor any building for faults where…
Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…
In this paper, a hierarchical multi-UAV simulation platform,called XTDrone, is designed for UAV swarms, which is completely open-source 4 . There are six layers in XTDrone: communication, simulator,low-level control, high-level control,…
Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to…
This paper presents an efficient risk management model for unmanned aerial vehicles or UAVs. Our proposed risk management establishes a cyclic model with a continuous and iterative structure that is very adaptable to agile methods and all…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
Accurate mathematical models of aerodynamic properties play an important role in the aerospace field. In some cases, system parameters of an aircraft can be estimated reliably only via flight tests. In order to obtain meaningful…