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Deploying autonomous robots in safety-critical domains requires architectures that ensure operational effectiveness and safety compliance. In this paper, we contribute the Safe-ROS architecture for developing reliable and verifiable…
Recent advances in machine learning technologies and sensing have paved the way for the belief that safe, accessible, and convenient autonomous vehicles may be realized in the near future. Despite tremendous advances within this context,…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing…
Testing of autonomous systems is extremely important as many of them are both safety-critical and security-critical. The architecture and mechanism of such systems are fundamentally different from traditional control software, which appears…
Autonomous drones have gained considerable attention for applications in real-world scenarios, such as search and rescue, inspection, and delivery. As their use becomes ever more pervasive in civilian applications, failure to ensure safe…
The ultimate astronomical observatory would be a formation flying interferometer in space, immune to atmospheric turbulence and absorption, free from atmospheric and telescope thermal emission, and reconfigurable to adjust baselines…
The increasing interest in spacecraft autonomy and the complex tasks to be accomplished by the spacecraft raise the need for a trustworthy approach to perform Verification & Validation of Guidance, Navigation, and Control algorithms. In the…
An all-electric unmanned aerial system with both VTOL and Fixed wing capabilities is designed and optimized for long range surveillance and relief operations. The UAV is equipped with onboard computers and sensors and is capable of carrying…
We consider the problem of optimally composing a set of primitives to tackle planning and control tasks. To address this problem, we introduce a free energy computational model for planning and control via policy composition: Free-Gate.…
In order to handle undesirable failures of a multicopter which occur in either the pre-flight process or the in-flight process, a failsafe mechanism design method based on supervisory control theory is proposed for the semi-autonomous…
Unmanned Aircraft Vehicles (UAVs) are becoming a crucial tool in modern warfare, primarily due to their cost-effectiveness, risk reduction, and ability to perform a wider range of activities. The use of autonomous UAVs to conduct strike…
With UAVs promising capabilities to increase operation flexibility and reduce mission cost, we are exploiting the automated carrier-landing performance advancement that can be achieved by fixed-wing UAVs. To demonstrate such potentials, in…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomous aerial exploration. Despite recent advancements in the…
Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
Recent advances in miniaturization and commercial availability of critical satellite subsystems and detector technology have made small satellites (SmallSats, including CubeSats) an attractive, low-cost potential solution for space weather…
Microservice applications are created as loosely coupled application components and they leverage cloud elasticity to reduce costs and increase development speed. However, microservice applications exhibit complex interactions among…
The draft IMO MASS Code requires autonomous and remotely supervised maritime vessels to detect departures from their operational design domain, enter a predefined fallback that notifies the operator, permit immediate human override, and…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…