Related papers: DECISIVE Test Methods Handbook: Test Methods for E…

In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…

Classical approaches and procedures for testing of automated vehicles of SAE levels 1 and 2 were based on defined scenarios with specific maneuvers, depending on the function under test. For automated driving systems (ADS) of SAE level 3+,…

Semantic segmentation plays a critical role in enabling intelligent vehicles to comprehend their surrounding environments. However, deep learning-based methods usually perform poorly in domain shift scenarios due to the lack of labeled data…

Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage…

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…

Assessing scenario coverage is crucial for evaluating the robustness of autonomous agents, yet existing methods rely on expensive human annotations or computationally intensive Large Vision-Language Models (LVLMs). These approaches are…

Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…

We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an indoor exploration framework that uses learning to predict…

Accurate estimation of the sound speed profile (SSP) is essential for underwater acoustic communication, sonar performance, and navigation, as the acoustic wave propagation depends strongly on the SSP. This work considers SSP estimation in…

Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…

Real-time safety assessment (RTSA) of dynamic systems is a critical task that has significant implications for various fields such as industrial and transportation applications, especially in non-stationary environments. However, the…

Autonomous Systems (AS) are increasingly proposed, or used, in Safety Critical (SC) applications. Many such systems make use of sophisticated sensor suites and processing to provide scene understanding which informs the AS' decision-making.…

Embedded systems are ubiquitous and play critical roles in management systems for industry and transport. Software failures in these domains may lead to loss of production or even loss of life, so the software in these systems needs to be…

The design of distributed autonomous systems for operation beyond reliable ground contact presents a fundamental tension: as round-trip communication latency grows, the set of decisions delegable to ground operators shrinks. This paper…

Autonomous navigation for nano-scale unmanned aerial vehicles (nano-UAVs) is governed by extreme Size, Weight, and Power (SWaP) constraints (with the weight < 50 g and sub-100 mW onboard processor), distinguishing it fundamentally from…

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…

The number of daily small Unmanned Aircraft Systems (sUAS) operations in uncontrolled low altitude airspace is expected to reach into the millions. UAS Traffic Management (UTM) is an emerging concept aiming at the safe and efficient…

Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…

We present a bottleneck analysis tool for designing compute systems for autonomous Unmanned Aerial Vehicles (UAV). The tool provides insights by exploiting the fundamental relationships between various components in the autonomous UAV such…

This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often…