Related papers: Autonomy at Levels for Spacecraft
Self-organization in complex systems is a process in which randomness is reduced and emergent structures appear that allow the system to function in a more competitive way with other states of the system or with other systems. It occurs…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Predicting the outcomes of integrating Unmanned Aerial Systems (UAS) into the National Airspace System (NAS) is a complex problem which is required to be addressed by simulation studies before allowing the routine access of UAS into the…
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…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…
Mobile autonomous system (MAS) becomes pervasive especially in the vehicular and robotic networks. Multiple heterogeneous MAS networks can be integrated together as a multi-layer MAS network to offer holistic services. The network…
Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces high performance but largely through black-box algorithms. We…
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…
The problem of autonomous launch and landing of a tethered rigid aircraft for airborne wind energy generation is addressed. The system operates with ground-based power conversion and pumping cycles, where the tether is repeatedly reeled in…
Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
Natural lifeforms specialise to their environmental niches across many levels; from low-level features such as DNA and proteins, through to higher-level artefacts including eyes, limbs, and overarching body plans. We propose Multi-Level…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Autonomic computing is a computing system that can manage itself by self-configuration, self-healing, self-optimizing and self-protection. Researchers have been emphasizing the strong role that multi agent systems can play progressively…
The emergence of large language models (LLMs) opens new frontiers for unmanned aerial vehicle (UAVs), yet existing systems remain confined to predefined tasks due to hardware-software co-design challenges. This paper presents the first…