Related papers: Safe Human-UAS Collaboration Abstraction
Diverse applications have witnessed the prevalence of unmanned aerial vehicles (UAVs) due to their agility and versatility. Compared with computation and control, the communication tends to be the bottleneck of the whole UAV system. Cyber…
Industrial inspection automation in aerospace presents numerous challenges due to the dynamic, information-rich and regulated aspects of the domain. To diagnose the condition of an aircraft component, expert inspectors rely on a significant…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
As an autonomous vehicles, Unmanned Aerial Vehicles (UAVs) are subjected to several challenges. One of the challenges is for UAV to be able to avoid collision. Many collision avoidance methods have been proposed to address this issue.…
With the number of small Unmanned Aircraft Systems (sUAS) in the national airspace projected to increase in the next few years, there is growing interest in a traffic management system capable of handling the demands of this aviation…
Developing algorithms for distributed systems is an error-prone task. Formal models like Petri nets with transits and Petri games can prevent errors when developing such algorithms. Petri nets with transits allow us to follow the data flow…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…
When considering distributed systems, it is a central issue how to deal with interactions between components. In this paper, we investigate the paradigms of synchronous and asynchronous interaction in the context of distributed systems. We…
In this paper, we study an unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) architecture, in which a UAV roaming around the area may serve as a computing server to help user equipment (UEs) compute their tasks or act as a…
Our objective is to design a controlled system with a simple method for discrete event systems based on Petri nets. It is possible to construct the Petri net model of a system and the specification separately. By synchronous composition of…
This letter investigates computing-accessibility-aware cooperative 3D deployment of multiple UAVs for task completion enhancement, termed CA3D. We first provide a theoretical analysis showing that computing accessibility is the key…
As small Uncrewed Aircraft Systems (sUAS) increasingly operate in the national airspace, safety concerns arise due to a corresponding rise in reported airspace violations and incidents, highlighting the need for a safe mechanism for sUAS…
This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…
Drowning is an omnipresent risk associated with any activity on or in the water, and rescuing a drowning person is particularly challenging because of the time pressure, making a short response time important. Further complicating water…
In this work, we investigate the problem of an online trajectory design for an Unmanned Aerial Vehicle (UAV) in a Federated Learning (FL) setting where several different communities exist, each defined by a unique task to be learned. In…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…