Related papers: Pseudo-Random UAV Test Generation Using Low-Fideli…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…
This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…
In this correspondence, we study the physical layer security in a stochastic unmanned aerial vehicles (UAVs) network from a network-wide perspective, where the locations of UAVs are modeled as a Mat$\acute{\text{e}}$rn hard-core point…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
High-level synthesis (HLS) transforms an algorithmic description of hardware from a higher abstraction (e.g., C/C++) into a register-transfer level (RTL) design, offering reduced development time and greater flexibility in design space…
A well-known testing method for the safety evaluation and real-time validation of automotive software systems (ASSs) is Fault Injection (FI). In accordance with the ISO 26262 standard, the faults are introduced artificially for the purpose…
While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de facto}$ evaluation environment, places the public in…
This paper describes the development of an on-board data-driven system that can monitor and localize the fault in a quadrotor unmanned aerial vehicle (UAV) and at the same time, evaluate the degree of damage of the fault under real…
Rigorous testing of small Uncrewed Aerial Systems (sUAS) is crucial to ensure their safe and reliable deployment in the real world. sUAS developers aim to validate the reliability and safety of their applications through simulation testing.…
Validating the safety of autonomous systems generally requires the use of high-fidelity simulators that adequately capture the variability of real-world scenarios. However, it is generally not feasible to exhaustively search the space of…
Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing…
Collision-free path planning is the most crucial component in multi-UAV formation-flying (MFF). We use unlabeled homogenous quadcopters (UAVs) to demonstrate the use of a flow network to create complete (inter-UAV) collision-free paths.…
While automated driving technology has achieved a tremendous progress, the scalable and rigorous testing and verification of safe automated and autonomous driving vehicles remain challenging. This paper proposes a learning-based…
Simulation-based verification is beneficial for assessing otherwise dangerous or costly on-road testing of autonomous vehicles (AV). This paper addresses the challenge of efficiently generating effective tests for simulation-based AV…
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulators often lack high-level autonomy, hindering their immediate…
Recently, Unmanned Aerial Vehicles (UAVs) are employed for a plethora of civilian applications. Such flying vehicles can accomplish tasks under the pilot's eyesight within the range of a remote controller, or autonomously according to a…
Unmanned aerial vehicle (UAV) system is vulnerable to the control signal spoofing attack due to the openness of the wireless communications. In this correspondence, a physical layer approach is proposed to combat the control signal spoofing…
Discovering potential failures of an autonomous system is important prior to deployment. Falsification-based methods are often used to assess the safety of such systems, but the cost of running many accurate simulation can be high. The…