Related papers: An Embedded Decision Support System for Runway Saf…
Modern society is getting accustomed to the Internet of Things (IoT) and Cyber-Physical Systems (CPS) for a variety of applications that involves security-critical user data and information transfers. In the lower end of the spectrum, these…
This paper proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC) scheme. Given noisy measurements of the a priori unknown…
Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…
Avoiding unseen or partially occluded vulnerable road users (VRUs) is a major challenge for fully autonomous driving in urban scenes. However, occlusion-aware risk assessment systems have not been widely studied. Here, we propose a…
This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…
Runway incursions are among the most serious safety concerns in air traffic control. Traditional A-SMGCS level 2 safety systems detect runway incursions with the help of surveillance information only. In the context of SESAR, complementary…
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes particularly challenging due to (i) unknown disturbances,…
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately predict ego vehicle behavior under a chosen controller use…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
The advent of end-to-end autonomy stacks - often lacking interpretable intermediate modules - has placed an increased burden on ensuring that the final output, i.e., the motion plan, is safe in order to validate the safety of the entire…
The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…
Self-adaptive systems (SASs) are capable of adjusting its behavior in response to meaningful changes in the operational con-text and itself. The adaptation needs to be performed automatically through self-managed reactions and…
Routing is a crucial component in the design of Flying Ad-Hoc Networks (FANETs). State of the art routing solutions exploit the position of Unmanned Aerial Vehicles (UAVs) and their mobility information to determine the existence of links…
This paper presents a robust computationally efficient real-time collision avoidance algorithm for Unmanned Aerial Vehicle (UAV), namely Memory-based Wall Following-Artificial Potential Field (MWF-APF) method. The new algorithm switches…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
To certify UAV operations in populated areas, risk mitigation strategies -- such as Emergency Landing (EL) -- must be in place to account for potential failures. EL aims at reducing ground risk by finding safe landing areas using on-board…
As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected…
Unmanned aerial vehicle (UAV) and reconfigurable intelligent surface (RIS) have been recently applied in the field of mobile edge computing (MEC) to improve the data exchange environment by proactively changing the wireless channels through…
Stochastic dynamical systems have emerged as fundamental models across numerous application domains, providing powerful mathematical representations for capturing uncertain system behavior. In this paper, we address the problem of runtime…