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The advance towards higher levels of automation within the field of automated driving is accompanied by increasing requirements for the operational safety of vehicles. Induced by the limitation of computational resources, trade-offs between…
The purpose of this paper is to develop an unmanned aerial vehicle (UAV) using a quadcopter with the capability of video surveillance, map coordinates, a deployable parachute with a medicine kit or a food pack as a payload, a collision…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Unmanned aerial vehicles (UAVs) are widely applied in civil applications, such as disaster relief, agriculture and cargo transportation, etc. With the massive number of UAV flight activities, the anti-collision technologies aiming to avoid…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Monitoring large scale environments is a crucial task for managing remote alpine environments, especially for hazardous events such as avalanches. One key information for avalanche risk forecast is imagery of released avalanches. As these…
With the rising popularity of UAVs in the civilian world, we are currently witnessing and paradim shift in terms of operational safety of flying vehicles. Safe and ubiquitous human-system interaction shall remain the core requirement but…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Safety assurance of automated driving systems must consider uncertain environment perception. This paper reviews literature addressing how perception testing is realized as part of safety assurance. We focus on testing for verification and…
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…
Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a…
The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling…
This paper develops a novel physics-inspired traffic coordination approach and applies it to Unmanned Aircraft System (UAS) traffic management. We extend available physics-inspired approaches previously applied to 1-D traffic flow on…
As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…
This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
With the emergence of compute-intensive and delay-sensitive applications in vehicular networks, unmanned aerial vehicles (UAVs) have emerged as a promising complement for vehicular edge computing due to the high mobility and flexible…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…