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Federated learning (FL) enables collaborative model training by aggregating local updates without requiring raw data sharing. However, prior studies have shown that servers can exploit gradient inversion to compromise user privacy or…

This paper presents a robust computationally efficient real-time collision avoidance algorithm for Unmanned Aerial Vehicle (UAV), namely Memory-based Wall Following-Artificial Potential Field (MWF-APF) method. The new algorithm switches…

The development of Automated Driving Systems (ADS) has the potential to revolutionise the transportation industry, but it also presents significant safety challenges. One of the key challenges is ensuring that the ADS is safe in the event…

Computational simulations with different fidelity have been widely used in engineering design. A high-fidelity (HF) model is generally more accurate but also more time-consuming than an low-fidelity (LF) model. To take advantages of both HF…

Safety testing serves as the fundamental pillar for the development of autonomous driving systems (ADSs). To ensure the safety of ADSs, it is paramount to generate a diverse range of safety-critical test scenarios. While existing ADS…

We consider the problem of designing scalable and portable controllers for unmanned aerial vehicles (UAVs) to reach time-varying formations as quickly as possible. This brief confirms that deep reinforcement learning can be used in a…

Structural Analysis is an established method for Fault Detection and Identification (FDI) in large-scale systems, enabling the discovery of Analytical Redundancy Relations (ARRs) which serve as residual generators. However, most techniques…

Microscopic traffic simulators that simulate realistic traffic flow are crucial in studying, understanding and evaluating the fuel usage and mobility effects of having a higher number of autonomous vehicles (AVs) in traffic under realistic…

Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…

Systems engineering approaches use high-level models to capture the architecture and behavior of the system. However, when safety engineers conduct safety and reliability analysis, they have to create formal models, such as fault-trees,…

Large Language Models (LLMs) show promise in generating firmware for embedded systems, but often introduce security flaws and fail to meet real-time performance constraints. This paper proposes a three-phase methodology that combines…

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…

Autonomous vehicle (AV) planners must undergo rigorous evaluation before widespread deployment on public roads, particularly to assess their robustness against the uncertainty of human behaviors. While recent advancements in data-driven…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in…

Unmanned aerial vehicles are becoming common and have many productive uses. However, their increased prevalence raises safety concerns -- how can we protect restricted airspace? Knowing the type of unmanned aerial vehicle can go a long way…

The Finite Fourier Series (FFS) Shape-Based (SB) trajectory approximation method has been used to rapidly generate initial trajectories that satisfy the dynamics, trajectory boundary conditions, and limitation on maximum thrust…

Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also…

This paper focuses on developing a method to obtain an uncertain linear fractional transformation (LFT) system that adequately captures the dynamics of a nonlinear time-invariant system over some desired envelope. First, the nonlinear…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…