Related papers: Monitoring autonomous persistent surveillance miss…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…
This paper presents an approach to more efficient partial order reduction for model checking concurrent systems. This approach utilizes a compositional reachability analysis to generate over-approximate local state transition models for all…
Environment-induced decoherence has long been recognised as being of crucial importance in the study of chaos in quantum systems. In particular, the exact form and strength of the system-environment interaction play a major role in the…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
A fixed-order set-valued observer is presented for linear parameter-varying systems with bounded-norm noise and under completely unknown attack signals, which simultaneously finds bounded sets of states and unknown inputs that include the…
In formal verification, runtime monitoring consists of observing the execution of a system in order to decide as quickly as possible whether or not it satisfies a given property. We consider monitoring in a distributed setting, for…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights,…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
Achieving high-precision control for robotic systems is hindered by the low-fidelity dynamical model and external disturbances. Especially, the intricate coupling between internal uncertainties and external disturbances further exacerbates…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition.…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
This paper presents the experimental comparison of fourteen stereo matching algorithms in variant illumination conditions. Different adaptations of global and local stereo matching techniques are chosen for evaluation The variant strength…
The method of restricted path integrals allows one to effectively consider continuous (prolonged in time) measurements of quantum systems. Monitoring of the system coordinates is such a continuous measurement that allows one to describe a…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
A common technique for verifying the safety of complex systems is the inductive invariant method. Inductive invariants are inductive formulas that overapproximate the reachable states of a system and imply a desired safety property.…
With the diffusion of complex heterogeneous platforms and their need of characterization, monitoring the system gained increasing interest. This work proposes a framework to build custom and modular monitoring systems, flexible enough to…
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…