相关论文: Assisted Control for Semi-Autonomous Power Infrast…

This study considers a base station equipped with sensing and communication capabilities, which serves a ground user and scans a portion of the sky via a passive reconfigurable intelligent surface. To achieve more favorable system…

In the construction industry, safety assessment is vital to ensure both the reliability of assets and the safety of workers. Scaffolding, a key structural support asset requires regular inspection to detect and identify alterations from the…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple…

As cities strive to address urban mobility challenges, combining autonomous transportation technologies with intelligent infrastructure presents an opportunity to transform how people move within urban environments. Autonomous shuttles are…

Aerial networks, composed of Unmanned Aerial Vehicles (UAVs) acting as Wi-Fi access points or cellular base stations, are emerging as an interesting solution to provide on-demand wireless connectivity to users, when there is no network…

Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time…

In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…

Cyber-Physical Energy System, due to its multi-domain nature, requires a holistic validation methodology, which may involve the integration of assets and expertise from various research infrastructures. In this paper, the integration of…

Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…

Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…

Advanced Air Mobility (AAM) introduces a new, efficient mode of transportation with the use of vehicle autonomy and electrified aircraft to provide increasingly autonomous transportation between previously underserved markets. Safe and…

We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…

Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…

Drones have the potential to revolutionize power line inspection by increasing productivity, reducing inspection time, improving data quality, and eliminating the risks for human operators. Current state-of-the-art systems for power line…

This paper proposes an active attack detection scheme for constrained cyber-physical systems. Despite passive approaches where the detection is based on the analysis of the input-output data, active approaches interact with the system by…

Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…