Related papers: An Intent Modeling and Inference Framework for Aut…
Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted formulations and does not support…
Predicting the outcomes of integrating Unmanned Aerial Systems (UAS) into the National Aerospace (NAS) is a complex problem which is required to be addressed by simulation studies before allowing the routine access of UAS into the NAS. This…
Predicting the outcomes of integrating Unmanned Aerial Systems (UAS) into the National Airspace System (NAS) is a complex problem which is required to be addressed by simulation studies before allowing the routine access of UAS into the…
The rapid development of the low-altitude economy emphasizes the critical need for effective perception and intent recognition of non-cooperative unmanned aerial vehicles (UAVs). The advanced generative reasoning capabilities of multimodal…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…
This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…
Small, low-size, weight, power, and cost (SWaP-C) uncrewed aerial vehicles (UAVs) are increasingly used for intelligence, surveillance, and reconnaissance (ISR) missions due to their affordability, attritability, and suitability for…
The techniques and tactics used by cyber adversaries are becoming more sophisticated, ironically, as defense getting stronger and the cost of a breach continuing to rise. Understanding the thought processes and behaviors of adversaries is…
In order to plan a safe maneuver, self-driving vehicles need to understand the intent of other traffic participants. We define intent as a combination of discrete high-level behaviors as well as continuous trajectories describing future…
Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…
This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…
This paper proposes a hierarchical trajectory planning framework for UAVs operating under adversarial jamming conditions. Leveraging Bayesian Active Inference, the approach combines expert-generated demonstrations with probabilistic…
UASs form a large part of the fighting ability of the advanced military forces. In particular, these systems that carry confidential information are subject to security attacks. Accordingly, an Intrusion Detection System (IDS) has been…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
Automated inspection with Unmanned Aerial Systems (UASs) is a transformative capability set to revolutionize various application domains. However, this task is inherently complex, as it demands the seamless integration of perception,…
The Global Positioning System (GPS) has become a part of our daily life with the primary goal of providing geopositioning service. For an unmanned aerial system (UAS), geolocalization ability is an extremely important necessity which is…
Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…
Unmanned Aerial Systems (UAS) are currently widely used in safety-critical fields such as industrial production, military operations, and disaster relief. Due to the diversity and complexity of application scenarios, UAS have become…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…