Related papers: Pseudo-Random UAV Test Generation Using Low-Fideli…
This paper presents a methodology for Practically Safe Extremum Seeking (PSfES), designed to optimize unknown objective functions while strictly enforcing safety constraints via a Logarithmic Barrier Function (LBF). Unlike traditional…
We designed and validated a novel simulator for efficient development of multi-robot marine missions. To accelerate development of cooperative behaviors, the simulator models the robots' operating conditions with moderately high fidelity…
This paper proposes an autopilot system that can be used to control the small scale rotorcraft during the flight test for linear-frequency-domain system identification. The input frequency swept is generated automatically as part of the…
Ensuring safety in autonomous systems with vision-based control remains a critical challenge due to the high dimensionality of image inputs and the fact that the relationship between true system state and its visual manifestation is…
Quantum circuit simulation is paramount to the verification and optimization of quantum algorithms, and considerable research efforts have been made towards efficient simulators. While circuits often contain high-level gates such as oracles…
Hybrid planner switching framework (HPSF) for autonomous driving needs to reconcile high-speed driving efficiency with safe maneuvering in dense traffic. Existing HPSF methods often fail to make reliable mode transitions or sustain…
Testing and evaluation are critical to the development and deployment of autonomous vehicles (AVs). Given the rarity of safety-critical events such as crashes, millions of tests are typically needed to accurately assess AV safety…
Electronic control systems are becoming more and more complicated, which makes it difficult to test them sufficiently only through experiments. Simulation is an efficient way in the development and testing of complex electronic systems, but…
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable…
The applications of the unmanned aerial vehicles (UAVs) increase rapidly in everyday life, thus detecting the UAVs and/or its pilot is a crucial task. Many UAVs adopt frequency hopping spread spectrum (FHSS) technology to efficiently and…
Prior work has demonstrated that functionally correct yet vulnerable outputs arise systematically in threat-oriented settings, where adversarial or implicit channels are used to induce security failures in code agents and automated patching…
Various frameworks have been proposed to predict mechanical system responses by combining data from different fidelities for design optimization and uncertainty quantification as reviewed by Fern\'andez-Godino et al. and Peherstorfer et…
Recently, Niu, et. al. introduced a new variant of Federated Learning (FL), called Federated Submodel Learning (FSL). Different from traditional FL, each client locally trains the submodel (e.g., retrieved from the servers) based on its…
Autonomous vehicles (AVs) have demonstrated significant potential in revolutionizing transportation, yet ensuring their safety and reliability remains a critical challenge, especially when exposed to dynamic and unpredictable environments.…
Safety is a critical concern for urban flights of autonomous Unmanned Aerial Vehicles. In populated environments, risk should be accounted for to produce an effective and safe path, known as risk-aware path planning. Risk-aware path…
In this work, we study vulnerability of unmanned aerial vehicles (UAVs) to stealthy attacks on perception-based control. To guide our analysis, we consider two specific missions: ($i$) ground vehicle tracking (GVT), and ($ii$) vertical…
Agile autonomous drones are becoming increasingly popular in research due to the challenges they represent in fields like control, state estimation, or perception at high speeds. When all algorithms are computed onboard the uav, the…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
The generation of testing and training scenarios for autonomous vehicles has drawn significant attention. While Large Language Models (LLMs) have enabled new scenario generation methods, current methods struggle to balance command adherence…
Virtual testing of automated driving systems (ADS) has become an essential part of testing procedures for all automation levels. As ADS from automation level 3 and up are very complex, virtual testing for such systems is inevitable. The…