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Robots are improving their autonomy with minimal human supervision. However, auditable actions, transparent decision processes, and new human-robot interaction models are still missing requirements to achieve extended robot autonomy. To…
Remote physiological measurement (RPM) has emerged as a promising non-invasive method for monitoring physiological signals using the non-contact device. Although various domain adaptation and generalization methods were proposed to promote…
Testing of autonomous systems is extremely important as many of them are both safety-critical and security-critical. The architecture and mechanism of such systems are fundamentally different from traditional control software, which appears…
This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is…
Runway Safety Assistant Foreseeing Excursions (RUN.S.A.F.E.) is a complete embedded system solution that predicts a potential runway overrun during the takeoff and landing of a civil aviation aircraft. The system executes both static and…
This paper provides a new solution approach to a multi-player perimeter defense game, in which the intruders' team tries to enter the territory, and a team of defenders protects the territory by capturing intruders on the perimeter of the…
We consider the pressing question of how to model, verify, and ensure that autonomous systems meet certain \textit{obligations} (like the obligation to respect traffic laws), and refrain from impermissible behavior (like recklessly changing…
Autonomous vehicles (AV) depend on the sensors like RADAR and camera for the perception of the environment, path planning, and control. With the increasing autonomy and interactions with the complex environment, there have been growing…
Updatable timed automata (UTA) are extensions of classic timed automata that allow special updates to clock variables, like x:= x - 1, x := y + 2, etc., on transitions. Reachability for UTA is undecidable in general. Various subclasses with…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
The deployment of autonomous systems has experienced remarkable growth in recent years, driven by their integration into sectors such as industry, medicine, logistics, and domestic environments. This expansion is accompanied by a series of…
This paper addresses the challenges of decision-making for autonomous vehicles under faults during a transport mission. A real-time decision-making problem of vehicle routing planning considering maintenance management is formulated as an…
Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded…
Validating Advanced Driver Assistance Systems (ADAS) is a strategic issue, since such systems are becoming increasingly widespread in the automotive field. ADAS bring extra comfort to drivers, and this has become a selling point. But these…
This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…
This technical report presents a comprehensive formal verification approach for probabilistic agent systems modeling ballistic rocket flight trajectories using Probabilistic Alternating-Time Temporal Logic (PATL). We describe an innovative…
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the excavator itself. Simulation is a useful tool to build…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
An open problem for autonomous driving is how to validate the safety of an autonomous vehicle in simulation. Automated testing procedures can find failures of an autonomous system but these failures may be difficult to interpret due to…