Related papers: PRREACH: Probabilistic Risk Assessment Using Reach…
We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
Wildfires are destructive and inflict massive, irreversible harm to victims' lives and natural resources. Researchers have proposed commissioning unmanned aerial vehicles (UAVs) to provide firefighters with real-time tracking information;…
We study the problem of learning controllers for discrete-time non-linear stochastic dynamical systems with formal reach-avoid guarantees. This work presents the first method for providing formal reach-avoid guarantees, which combine and…
Visual object tracking has significantly promoted autonomous applications for unmanned aerial vehicles (UAVs). However, learning robust object representations for UAV tracking is especially challenging in complex dynamic environments, when…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded…
Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…
Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…
With the continual adoption of Uncrewed Aerial Vehicles (UAVs) across a wide-variety of application spaces, robust aerial manipulation remains a key research challenge. Aerial manipulation tasks require interacting with objects in the…
Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…
Modern general-purpose artificial intelligence (AI) systems present an urgent risk management challenge, as their rapidly evolving capabilities and potential for catastrophic harm outpace our ability to reliably assess their risks. Current…
This paper presents an innovative framework that synergistically enhances computing performance through ubiquitous computing power distribution and dynamic computing node accessibility control via adaptive unmanned aerial vehicle (UAV)…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of sampling-based works have shown success in exploring static…
Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…