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The unmanned aerial vehicle (UAV) based multi-access edge computing (MEC) appears as a popular paradigm to reduce task processing latency. However, the secure offloading is an important issue when occurring aerial eavesdropping. Besides,…
Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model Predictive Path Integral (MPPI) method, has recently…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
This technical report presents the detailed implementation of a Collision Avoidance System (CAS) for Unmanned Aerial Vehicles (UAVs), developed as a case study to demonstrate a rigorous methodology for achieving DO-178C compliance in…
Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
AI/ML-based intrusion detection systems (IDSs) and misbehavior detection systems (MDSs) have shown great potential in identifying anomalies in the network traffic of networked autonomous systems. Despite the vast research efforts, practical…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Micro unmanned aerial vehicles (mUAV) became very common in recent years. As a result of their widespread usage, when they are flown by hobbyists illegally, crucial risks are imposed and such mUAVs need to be sensed by security systems.…
Small Unmanned Aircraft Systems (sUAS) will be an important component of the smart city and intelligent transportation environments of the near future. The demand for sUAS related applications, such as commercial delivery and land…
In this paper, we propose a conflict-free multi- agent flight scheduling that ensures robust separation in con- strained airspace for Urban Air Mobility (UAM) operations application. First, we introduce Pairwise Conflict Avoidance (PCA)…
This paper presents a safety-assured arrival-scheduling framework for Urban Air Mobility (UAM) corridor operations. We propose an analytical method to compute a sufficient ETA gap at Constrained Waypoints (CWPs) that guarantees longitudinal…
This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
In this paper, we investigate the integration of drone identification data (Remote ID) with collision avoidance mechanisms to improve the safety and efficiency of multi-drone operations. We introduce an improved Near Mid-Air Collision…
We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this…
For emerging datacenter (in short, DC) workloads, such as online Internet services or offline data analytics, how to evaluate the upper bound performance and provide apple-to-apple comparisons are fundamental problems. To this end, a…
Mobile edge computing (MEC) technology can reduce user latency and energy consumption by offloading computationally intensive tasks to the edge servers. Unmanned aerial vehicles (UAVs) and non-orthogonal multiple access (NOMA) technology…
Autonomous crypto trading systems often spend most of their design effort on finding entries, while exits are left to fixed rules that are rarely tested in a systematic way. This paper examines whether better stop-loss and take-profit…
During recent years, unmanned surface vehicles are extensively utilised in a variety of maritime applications such as the exploration of unknown areas, autonomous transportation, offshore patrol and others. In such maritime applications,…