Related papers: Monitoring Unmanned Aircraft: Specification, Integ…

The increasing automation in many areas of the Industry expressly demands to design efficient machine-learning solutions for the detection of abnormal events. With the ubiquitous deployment of sensors monitoring nearly continuously the…

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…

In many cyber-physical systems, especially in critical applications such as aeroplanes, data to train anomaly detection and diagnosis algorithms is lacking due to data protection issues and partial observability. To combat this inherent…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…

Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…

This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…

System-Theoretic Process Analysis (STPA) is a recommended method for analysing complex systems, capable of identifying thousands of safety requirements often missed by traditional techniques such as Failure Mode and Effects Analysis (FMEA)…

Maintaining stability in feedback systems, from aircraft and autonomous robots to biological and physiological systems, relies on monitoring their behavior and continuously adjusting their inputs. Incremental damage can make such control…

In learning-enabled autonomous systems, safety monitoring of learned components is crucial to ensure their outputs do not lead to system safety violations, given the operational context of the system. However, developing a safety monitor…

Autonomous systems that rely on Machine Learning (ML) utilize online fault tolerance mechanisms, such as runtime monitors, to detect ML prediction errors and maintain safety during operation. However, the lack of human-interpretable…

Distributed systems are notoriously difficult to understand and analyze in order to assert their correction w.r.t. given properties. They often exhibit a huge number of different behaviors, as soon as the active entities (peers, agents,…

This paper considers the problem of nonstationary process monitoring under frequently varying operating conditions. Traditional approaches generally misidentify the normal dynamic deviations as faults and thus lead to high false alarms.…

Vertical take-off and landing (VTOL) aircraft do not require a prolonged runway, thus allowing them to land almost anywhere. In recent years, their flexibility has made them popular in development, research, and operation. When compared to…

Fine grained information flow monitoring can in principle address a wide range of security and privacy goals, for example in web applications. But it is very difficult to achieve sound monitoring with acceptable runtime cost and sufficient…

This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is developed for surveillance and tracking of…

This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…

The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become…

As unmanned aircraft systems (UASs) continue to integrate into the U.S. National Airspace System (NAS), there is a need to quantify the risk of airborne collisions between unmanned and manned aircraft to support regulation and standards…

This work studies the standoff tracking problem to drive an unmanned aerial vehicle (UAV) to slide on a desired circle over a moving target at a constant height. We propose a novel Lyapunov guidance vector (LGV) field with tunable…