Related papers: Certified Vision-based State Estimation for Autono…
Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…
We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-based tasks, they inherently lack provable guarantees on the correctness of their output,…
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…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video…
The navigation systems of autonomous aircraft rely on the readings provided by a suite of onboard sensors to estimate the aircraft state. In the case of fixed wing vehicles, the sensor suite is composed by triads of accelerometers,…
Reachability analysis has been a prominent way to provide safety guarantees for neurally controlled autonomous systems, but its direct application to neural perception components is infeasible due to imperfect or intractable perception…
Agents in cyber-physical systems are increasingly entrusted with safety-critical tasks. Ensuring safety of these agents often requires localizing the pose for subsequent actions. Pose estimates can, e.g., be obtained from various…
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimise…
At smaller airports without an instrument approach or advanced equipment, automatic landing of aircraft is a safety-critical task that requires the use of sensors present on the aircraft. In this paper, we study falsification of an…
Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
Predicting a potential collision with leading vehicles is an essential functionality of any autonomous/assisted driving system. One bottleneck of existing vision-based solutions is that their updating rate is limited to the frame rate of…
Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…
Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…