相关论文: Learning a Controller Fusion Network by Online Tra…

In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted Internet-of-Things (IoT) system in a sophisticated three-dimensional (3D) environment, where the UAV's trajectory is optimized to efficiently collect data from multiple…

In this paper, the problem of trajectory design of unmanned aerial vehicles (UAVs) for maximizing the number of satisfied users is studied in a UAV based cellular network where the UAV works as a flying base station that serves users, and…

Autonomous driving is of great interest to industry and academia alike. The use of machine learning approaches for autonomous driving has long been studied, but mostly in the context of perception. In this paper we take a deeper look on the…

This work focuses on the design of a deep learning-based autonomous driving system deployed and tested on the real-world MIT Racecar to assess its effectiveness in driving scenarios. The Deep Neural Network (DNN) translates raw image inputs…

In this work we introduce a convolutional neural network (CNN) that jointly handles low-, mid-, and high-level vision tasks in a unified architecture that is trained end-to-end. Such a universal network can act like a `swiss knife' for…

We show that by controlling parts of a physical environment in which a pre-trained deep neural network (DNN) is being fine-tuned online, an adversary can launch subtle data poisoning attacks that degrade the performance of the system. While…

Deep learning architectures are showing great promise in various computer vision domains including image classification, object detection, event detection and action recognition. In this study, we investigate various aspects of…

Autonomous driving in high-speed racing, as opposed to urban environments, presents significant challenges in scene understanding due to rapid changes in the track environment. Traditional sequential network approaches may struggle to meet…

Learning reliably safe autonomous control is one of the core problems in trustworthy autonomy. However, training a controller that can be formally verified to be safe remains a major challenge. We introduce a novel approach for learning…

Reinforcement Learning algorithms have recently been proposed to learn time-sequential control policies in the field of autonomous driving. Direct applications of Reinforcement Learning algorithms with discrete action space will yield…

This paper presents a dynamic network rewiring (DNR) method to generate pruned deep neural network (DNN) models that are robust against adversarial attacks yet maintain high accuracy on clean images. In particular, the disclosed DNR method…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

Online approximation of an infinite horizon optimal path-following strategy for a kinematic unicycle is considered. The solution to the optimal control problem is approximated using an approximate dynamic programming technique that uses…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

In recent years, there has been a growing interest in using networks of Unmanned Aerial Vehicles (UAV) that collectively perform complex tasks for diverse applications. An important challenge in realizing UAV networks is the need for a…

Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…

Insect flight is a strongly nonlinear and actuated dynamical system. As such, strategies for understanding its control have typically relied on either model-based methods or linearizations thereof. Here we develop a framework that combines…

In this paper, we present our proposed approach for active tracking to increase the autonomy of Unmanned Aerial Vehicles (UAVs) using event cameras, low-energy imaging sensors that offer significant advantages in speed and dynamic range.…