Related papers: Demonstrating ViSafe: Vision-enabled Safety for Hi…
Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes particularly challenging due to (i) unknown disturbances,…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…
Airborne collision avoidance systems provide an onboard safety net should normal air traffic control procedures fail to keep aircraft separated. These systems are widely deployed and have been constantly refined over the past three decades,…
In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a…
In this paper, we consider a Micro Aerial Vehicle (MAV) system teleoperated by a non-expert and introduce a perceptive safety filter that leverages Control Barrier Functions (CBFs) in conjunction with Visual-Inertial Simultaneous…
Navigation and obstacle avoidance are some of the hardest tasks for the visually impaired. Recent research projects have proposed technological solutions to tackle this problem. So far most systems fail to provide multidimensional feedback…
Autonomous driving faces safety challenges due to a lack of global perspective and the semantic information of vectorized high-definition (HD) maps. Information from roadside cameras can greatly expand the map perception range through…
We present an overview of recently developed data-driven tools for safety analysis of autonomous vehicles and advanced driver assist systems. The core algorithms combine model-based, hybrid system reachability analysis with sensitivity…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
Accurately and promptly predicting accidents among surrounding traffic agents from camera footage is crucial for the safety of autonomous vehicles (AVs). This task presents substantial challenges stemming from the unpredictable nature of…
The use of Autonomous Surface Vessels (ASVs) is growing rapidly. For safe and efficient surface auto-driving, a reliable perception system is crucial. Such systems allow the vessels to sense their surroundings and make decisions based on…
Safe navigation for the visually impaired individuals remains a critical challenge, especially concerning head-level obstacles, which traditional mobility aids often fail to detect. We introduce GuideTouch, a compact, affordable, standalone…
The Automatic Dependent Surveillance Broadcast protocol is one of the latest compulsory advances in air surveillance. While it supports the tracking of the ever-growing number of aircraft in the air, it also introduces cybersecurity issues…
UAVs have the potential to revolutionize urban management and provide valuable services to citizens. They can be deployed across diverse applications, including traffic monitoring, disaster response, environmental monitoring, and numerous…
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…