Related papers: An Intent Modeling and Inference Framework for Aut…
Along with the importance of safety, an IDS has become a significant task in the real world. Prior studies proposed various intrusion detection models for the UAV. Past rule-based approaches provided a concrete baseline IDS model, and the…
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…
This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into…
Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…
While AI techniques have found many successful applications in autonomous systems, many of them permit behaviours that are difficult to interpret and may lead to uncertain results. We follow the "verification as planning" paradigm and…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…
The number of daily small Unmanned Aircraft Systems (sUAS) operations in uncontrolled low altitude airspace is expected to reach into the millions. UAS Traffic Management (UTM) is an emerging concept aiming at the safe and efficient…
The rapid proliferation of unmanned aerial vehicles (UAVs) and their applications in diverse domains, such as surveillance, disaster management, agriculture, and defense, have revolutionized modern technology. While the potential benefits…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…
Intent-Based Networking (IBN) presents a paradigm shift for network management, by promising to align intents and business objectives with network operations--in an automated manner. However, its practical realization is challenging: 1)…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…
The Geofencing system is the key to operate the Unmanned Aerial Vehicle (UAV) within the safe and appropriate zone to avoid public concerns and other privacy issues. The system is designed to keep the UAV away from geofenced obstacles using…
Unmanned aerial vehicles (UAVs) have been increasingly utilized in various civilian and military applications such as remote sensing, border patrolling, disaster monitoring, and communication coverage extension. However, there are still…
How to build AI that understands human intentions, and uses this knowledge to collaborate with people? We describe a computational framework for evaluating models of goal inference in the domain of 3D motor actions, which receives as input…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
This paper presents a Bayesian framework for inferring the posterior of the augmented state of a target, incorporating its underlying goal or intent, such as any intermediate waypoints and/or the final destination. Thus, it is for joint…
Human-AI joint planning in Unmanned Aerial Vehicles (UAVs) typically relies on control handover when facing environmental uncertainties, which is often inefficient and cognitively demanding for non-expert operators. To address this, we…
This paper presents an initial design concept and specification of a civilian Unmanned Aerial Vehicle (UAV) management simulation system that focuses on explainability for the human-in-the-loop control of semi-autonomous UAVs. The goal of…