Related papers: A Monitoring Language for Run Time and Post-Mortem…
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…
State estimation constitutes a core task in monitoring, supervision, and control of dynamic systems. This paper proposes a data-driven framework for the design of state observers for descriptor systems. Necessary and sufficient conditions…
Existential rules are an expressive knowledge representation language mainly developed to query data. In the literature, they are often supposed to be in some normal form that simplifies technical developments. For instance, a common…
Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…
Wildfire monitoring demands autonomous systems capable of reasoning under extreme visual degradation, rapidly evolving physical dynamics, and scarce real-world training data. Existing UAV navigation approaches rely on simplified simulators…
Despite recent advancements in computer vision research, object detection in aerial images still suffers from several challenges. One primary challenge to be mitigated is the presence of multiple types of variation in aerial images, for…
Temporal logics (TLs) have been widely used to formalize interpretable tasks for cyber-physical systems. Time Window Temporal Logic (TWTL) has been recently proposed as a specification language for dynamical systems. In particular, it can…
Guidelines and consistency rules of UML are used to control the degrees of freedom provided by the language to prevent faults. Guidelines are used in specific domains (e.g., avionics) to recommend the proper use of technologies. Consistency…
Agent based modelling (ABM) is a computational approach to modelling complex systems by specifying the behaviour of autonomous decision-making components or agents in the system and allowing the system dynamics to emerge from their…
Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating complex environments. Two key bottlenecks remain in this…
This paper presents $\forall$uto$\exists$val, a new approach for scaling LLM assessment in translating formal syntax -- such as first-order logic, regular expressions, etc -- to natural language (interpretation) or vice versa (compilation),…
We present LoRM (Language of Rotating Machinery), a self-supervised framework for multi-modal rotating-machinery signal understanding and real-time condition monitoring. LoRM is built on the idea that rotating-machinery signals can be…
Bilevel optimization (BLO) is a popular approach with many applications including hyperparameter optimization, neural architecture search, adversarial robustness and model-agnostic meta-learning. However, the approach suffers from time and…
The ubiquitous reliance on software systems increases the need for ensuring that systems behave correctly and are well protected against security risks. Runtime enforcement is a dynamic analysis technique that utilizes software monitors to…
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human commands and execute long-horizon tasks in…
This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…
Tracking and following objects of interest is critical to several robotics use cases, ranging from industrial automation to logistics and warehousing, to healthcare and security. In this paper, we present a robotic system to detect, track,…
Conventional Vision-and-Language Navigation (VLN) benchmarks assume instructions are feasible and the referenced target exists, leaving agents ill-equipped to handle false-premise goals. We introduce VLN-NF, a benchmark with false-premise…
We demonstrate real-time high-altitude aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS) and an inertial measurement unit (IMU). Our system, named HALO, addresses two key…
Execution monitor of high-level robot actions can be effectively improved by visual monitoring the state of the world in terms of preconditions and postconditions that hold before and after the execution of an action. Furthermore a policy…