相关论文: Application of Evidential Reasoning to Helicopter …

Even if path planning can be solved using standard techniques from dynamic programming and control, the problem can also be approached using probabilistic inference. The algorithms that emerge using the latter framework bear some appealing…

In the domain of intelligent transportation systems, especially within the context of autonomous vehicle control, the preemptive holistic collaborative system has been presented as a promising solution to bring a remarkable enhancement in…

Motion reasoning serves as the cornerstone of multi-object tracking (MOT), as it enables consistent association of targets across frames. However, existing motion estimation approaches face two major limitations: (1) instability caused by…

In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

Visual Language Models (VLMs) are powerful generative tools but often produce factually inaccurate outputs due to a lack of robust reasoning capabilities. While extensive research has been conducted on integrating external knowledge for…

Advanced Air Mobility (AAM) is a growing field that demands a deep understanding of legal, spatial and temporal concepts in navigation. Hence, any implementation of AAM is forced to deal with the inherent uncertainties of human-inhabited…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

Vision-language models (VLMs) have achieved remarkable success across diverse tasks. However, concerns about their trustworthiness persist, particularly regarding tendencies to lean more on textual cues than visual evidence and the risk of…

We present a numeric method to compute the safe operating flight conditions for a helicopter such that we can ensure a safe landing in the event of a partial or total engine failure. The unsafe operating region is the complement of the…

Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…

Computational mechanisms for uncertainty management must support interactive and incremental problem formulation, inference, hypothesis testing, and decision making. However, most current uncertainty inference systems concentrate primarily…

Implicit inverse problems, in which noisy observations of a physical quantity are used to infer a nonlinear functional applied to an associated function, are inherently ill posed and often exhibit non uniqueness of solutions. Such problems…

Vision-Language Models (VLMs) offer the ability to generate high-level, interpretable descriptions of complex activities from images and videos, making them valuable for situational awareness (SA) applications. In such settings, the focus…

Aerial Vehicles follow a guided approach based on Latitude, Longitude and Altitude. This information can be used for calculating the status of maneuvering for the aerial vehicles along the line of trajectory. This is a binary classification…

We present a method for explicit leapfrog integration of inseparable Hamiltonian systems by means of an extended phase space. A suitably defined new Hamiltonian on the extended phase space leads to equations of motion that can be…

The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…

The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…

Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However,…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…