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This technical report presents the detailed implementation of a Collision Avoidance System (CAS) for Unmanned Aerial Vehicles (UAVs), developed as a case study to demonstrate a rigorous methodology for achieving DO-178C compliance in…
Although increased automation has made it easier to control aircraft, ensuring a safe interaction between the pilots and the autopilots is still a challenging problem, especially in the presence of severe anomalies. Current approach…
The control design of an airborne wind energy system with rigid aircraft, vertical take-off and landing, and pumping operation is described. A hierarchical control structure is implemented, in order to address all operational phases:…
Deep reinforcement learning (DRL) algorithms have been demonstrated to be effective in a wide range of challenging decision making and control tasks. However, these methods typically suffer from severe action oscillations in particular in…
This paper presents an efficient method for estimating the probability of conflict between air traffic within a block of airspace. Autonomous Sense-and-Avoid is an essential safety feature to enable Unmanned Air Systems to operate alongside…
Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
The common theory is that human pilot's performance degrades when responsible for an increased number of uncrewed aircraft systems (UAS). This theory was developed in the early 2010's for ground robots and not highly autonomous UAS. It has…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
Dealing with Commercial off-the-shelf (COTS) com- ponents is a daily business for avionic system manufacturers. They are necessary ingredients for hardware designs, but are not built in accordance with the avionics consensus standard DO-…
Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) -…
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…
This work studies secure transmission in intelligent reflecting surfaces (IRS)-assisted MIMO systems when an active eavesdropper is available in the network. We consider a scenario in which the eavesdropper performs an active pilot attack…
Since the MICROSCOPE instrument aims to measure accelerations as low as a few 10$^{-15}$\,m\,s$^{-2}$ and cannot operate on ground, it was obvious to have a large time dedicated to its characterization in flight. After its release and first…
Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…
Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale Advanced Air Mobility. During unpowered…
Many real-world datasets, such as healthcare, climate, and economics, are often collected as irregular time series, which poses challenges for accurate modeling. In this paper, we propose the Amortized Control of continuous State Space…
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,…