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Wirelessly-connected robotic systems empower robots with real-time intelligence by leveraging remote computing resources for decision-making. However, the data exchange between robots and edge servers often overwhelms communication links,…
A computational system is called autonomous if it is able to make its own decisions, or take its own actions, without human supervision or control. The capability and spread of such systems have reached the point where they are beginning to…
Multi-agent routing problems have gained significant attention recently due to their wide range of industrial applications, ranging from logistics warehouse automation to indoor service robots. Conventionally, they are modeled as classical…
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…
Answer Set Programming (ASP) is a declarative programming language used for modeling and solving complex combinatorial problems. It has been successfully applied to a number of different realworld problems. However, learning its usage can…
This paper develops and evaluates the performance of an allocation agent to be potentially integrated into the onboard Detect and Avoid (DAA) computer of an Unmanned Aircraft System (UAS). We consider a UAS that can be fully controlled by…
The increasing complexity of aerospace systems requires development processes that balance agility with stringent safety and certification demands. This study presents an empirically validated Scrum-based Agile framework tailored for…
This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic control. The proposed SCA…
The emergence of a global market for urban air mobility and unmanned aerial systems has attracted many startups across the world. These organizations have little training or experience in the traditional processes used in civil aviation for…
One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to…
Unmanned aircraft systems (UAS), or unmanned aerial vehicles (UAVs), often referred to as drones, have been experiencing healthy growth in the United States and around the world. The positive uses of UAS have the potential to save lives,…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
Consider an unmanned aerial vehicle (UAV) physically connected to the ground station with a tether operating in a space, tasked with performing precise maneuvers while constrained by the physical limitation of its tether, which prevents it…
We present recent advances in formal verification and control for autonomous systems with practical safety guarantees enabled by conformal prediction (CP), a statistical tool for uncertainty quantification. This survey is particularly…
Constraint answer set programming or CASP, for short, is a hybrid approach in automated reasoning putting together the advances of distinct research areas such as answer set programming, constraint processing, and satisfiability modulo…
The Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper…
We propose Answer Set Programming (ASP) as an approach for modeling and solving problems from the area of Declarative Process Mining (DPM). We consider here three classical problems, namely, Log Generation, Conformance Checking, and Query…
This paper considers the complex problem of a team of UAVs searching targets under uncertainty. The goal of the UAV team is to find all of the moving targets as quickly as possible before they arrive at their selected goal. The uncertainty…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Answer Set Programming (ASP) is a declarative logic programming formalism, which is employed nowadays in both academic and industrial real-world applications. Although some tools for supporting the development of ASP programs have been…