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This paper addresses a drone ball-balancing task, in which a drone stabilizes a ball atop a movable beam through cable-based interaction. We propose a hierarchical control framework that decouples high-level balancing policy from low-level…
SLAM based techniques are often adopted for solving the navigation problem for the drones in GPS denied environment. Despite the widespread success of these approaches, they have not yet been fully exploited for automation in a warehouse…
The use of drones in a wide range of applications is steadily increasing. However, this has also raised critical security concerns such as unauthorized drone intrusions into restricted zones. Therefore, robust and accurate drone detection…
The flying bird objects captured by surveillance cameras exhibit varying levels of recognition difficulty due to factors such as their varying sizes or degrees of similarity to the background. To alleviate the negative impact of hard…
A vision-based drone-to-drone detection system is crucial for various applications like collision avoidance, countering hostile drones, and search-and-rescue operations. However, detecting drones presents unique challenges, including small…
The future large adaptive telescopes will trigger new constraints for the calibration of Adaptive Optics (AO) systems equipped with pre-focal Deformable Mirrors (DM). The image of the DM actuators grid as seen by the Wave-Front Sensor (WFS)…
Deep learning approaches require enough training samples to perform well, but it is a challenge to collect enough real training data and label them manually. In this letter, we propose the use of realistic synthetic data with a wide…
The Radio frequency (RF) fingerprinting technique makes highly secure device authentication possible for future networks by exploiting hardware imperfections introduced during manufacturing. Although this technique has received considerable…
Remote Attestation (RA) allows a trusted entity (verifier) to securely measure internal state of a remote untrusted hardware platform (prover). RA can be used to establish a static or dynamic root of trust in embedded and cyber-physical…
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable features in different radar scans, or by relying on measurements…
Deep Reinforcement Learning (DRL) has achieved impressive performance in robotics and autonomous systems (RAS). A key challenge to its deployment in real-life operations is the presence of spuriously unsafe DRL policies. Unexplored states…
Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications,…
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
As the interest in autonomous systems continues to grow, one of the major challenges is collecting sufficient and representative real-world data. Despite the strong practical and commercial interest in autonomous landing systems in the…
A renaissance in radar-based sensing for mobile robotic applications is underway. Compared to cameras or lidars, millimetre-wave radars have the ability to `see' through thin walls, vegetation, and adversarial weather conditions such as…
Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…
Radio Frequency (RF) fingerprinting offers a promising approach for drone identification and security, although it suffers from significant performance degradation when operating on different transmission channels. This paper presents…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
The emergence of drones has added new dimension to privacy and security issues. There are little or no strict regulations on the people that can purchase or own a drone. For this reason, people can take advantage of these aircraft to…