Related papers: An Embedded Decision Support System for Runway Saf…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that…
Existing aerial robot navigation systems typically plan paths around static and dynamic obstacles, but fail to adapt when a static obstacle suddenly moves. Integrating environmental semantic awareness enables estimation of potential risks…
This paper addresses the problem of anticipating traffic accidents, which aims to forecast potential accidents before they happen. Real-time anticipation is crucial for safe autonomous driving, yet most methods rely on computationally heavy…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…
Unmanned aerial vehicles (UAVs) integrated into cellular networks face significant challenges from air-to-ground interference. To address this, we propose a downlink UAV communication system that leverages a fluid antenna system (FAS)-…
Runahead execution is a technique to mask memory latency caused by irregular memory accesses. By pre-executing the application code during occurrences of long-latency operations and prefetching anticipated cache-missed data into the cache…
Unmanned Aerial Vehicles (UAVs) have the potential to be used for many applications in urban environments. However, allowing UAVs to fly above densely populated areas raises concerns regarding safety. One of the main safety issues is the…
Reinforcement learning (RL) can be used to create a tactical decision-making agent for autonomous driving. However, previous approaches only output decisions and do not provide information about the agent's confidence in the recommended…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
Continuous and reliable service support is crucial for emerging latency-sensitive and computation-intensive applications in UAV-assisted edge networks (UENs) due to operational dynamics and environmental uncertainty. Although conventional…
As artificial intelligence (AI) technology advances, ensuring the robustness and safety of AI-driven systems has become paramount. However, varying perceptions of robustness among AI developers create misaligned evaluation metrics,…
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…
In this paper, we consider a platform of flying mobile edge computing (F-MEC), where unmanned aerial vehicles (UAVs) serve as equipment providing computation resource, and they enable task offloading from user equipment (UE). We aim to…
Vision-guided robotic systems are increasingly deployed in precision alignment tasks that require reliable execution under near-field and off-axis configurations. While recent advances in pose estimation have significantly improved…
We propose a method to efficiently compute the forward stochastic reach (FSR) set and its probability measure for nonlinear systems with an affine disturbance input, that is stochastic and bounded. This method is applicable to systems with…
Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…
The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…