Related papers: Stochastic High Fidelity Autonomous Fixed Wing Air…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
Numerical simulation of continuous variable quantum state preparation is a necessary tool for optimization of existing quantum information processing protocols. A powerful instrument for such simulation is the numerical computation in the…
In regions where global navigation satellite systems (GNSS) signals are unavailable, such as underground areas and tunnels, GNSS simulators can be deployed for transmitting simulated GNSS signals. Then, a GNSS receiver in the simulator…
Over the past decades, progress in deployable autonomous flight systems has slowly stagnated. This is reflected in today's production air-crafts, where pilots only enable simple physics-based systems such as autopilot for takeoff, landing,…
In this paper, we consider the problem of formally verifying a Neural Network (NN) based autonomous landing system. In such a system, a NN controller processes images from a camera to guide the aircraft while approaching the runway. A…
If autonomous vehicles are to be widely accepted, we need to ensure their safe operation. For this reason, verification and validation (V&V) approaches must be developed that are suitable for this domain. Model checking is a formal…
The RTS smoother is widely used for state estimation and it is utilized here to increase the data quality with respect to physical coherence and to increase resolution. The purpose of this paper is to enhance the performance of the RTS…
Conformance is defined as a measure of distance between the behaviors of two dynamical systems. The notion of conformance can accelerate system design when models of varying fidelities are available on which analysis and control design can…
Aircraft trajectory prediction requires the determination of the atmospheric properties (pressure, temperature, and density) encountered by the aircraft during its flight. This is accomplished by employing a tabulated prediction published…
This paper proposes a geomagnetic and inertial combined navigation approach based on the flexible correction-model predictive control algorithm (Fc-MPC). This approach aims to overcome the limitations of existing combined navigation methods…
Systems like aircraft and spacecraft are expensive to operate in the real world. The design, validation, and testing for such systems therefore relies on a combination of mathematical modeling, abundant numerical simulations, and a…
Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then pieced together…
In this paper, we present a methodology for constructing data-driven maneuver generation models for agile aircraft that can generalize across a wide range of trim conditions and aircraft model parameters. Maneuver generation models play a…
Proximity operations to small bodies, such as asteroids and comets, demand high levels of autonomy to achieve cost-effective, safe, and reliable Guidance, Navigation and Control (GNC) solutions. Enabling autonomous GNC capabilities in the…
This paper proposes a statistical verification framework using Gaussian processes (GPs) for simulation-based verification of stochastic nonlinear systems with parametric uncertainties. Given a small number of stochastic simulations, the…
Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Estimating consistently oriented normals for point clouds enables a number of important applications in computer graphics. While local normal estimation is possible with simple techniques like PCA, orienting them to be globally consistent…
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…