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We present RefPtsFusion, a lightweight and interpretable framework for cooperative autonomous driving. Instead of sharing large feature maps or query embeddings, vehicles exchange compact reference points, e.g., objects' positions,…
With the continuing advances in scientific instrumentation, scanning microscopes are now able to image physical systems with up to sub-atomic-level spatial resolutions and sub-picosecond time resolutions. Commensurately, they are generating…
An important initial step in fault detection for complex industrial systems is gaining an understanding of their health condition. Subsequently, continuous monitoring of this health condition becomes crucial to observe its evolution, track…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring, relying either on sporadic surveys…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system.…
Inspections and testing are two of the most commonly performed software quality assurance processes today. Typically, these processes are applied in isolation, which, however, fails to exploit the benefits of systematically combining and…
Different from existing MOT (Multi-Object Tracking) techniques that usually aim at improving tracking accuracy and average FPS, real-time systems such as autonomous vehicles necessitate new requirements of MOT under limited computing…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
This work presents AutoDRIVE, a comprehensive research and education platform for implementing and validating intelligent transportation algorithms pertaining to vehicular autonomy as well as smart city management. It is an openly…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
This work presents an integrated control and software architecture that enables arguably the first fully autonomous, contact-based non-destructive testing (NDT) using a commercial multirotor originally restricted to remotely-piloted…
Autonomous Driving Systems (ADSs) are complex Cyber-Physical Systems (CPSs) that must ensure safety even in uncertain conditions. Modern ADSs often employ Deep Neural Networks (DNNs), which may not produce correct results in every possible…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems,…
Current vehicular Intrusion Detection and Prevention Systems either incur high false-positive rates or do not capture zero-day vulnerabilities, leading to safety-critical risks. In addition, prevention is limited to few primitive options…
Can we teach machines to assess the expertise of humans solving visual tasks automatically based on eye tracking features? This paper proposes AutoSIGHT, Automatic System for Immediate Grading of Human experTise, that classifies expert and…