相关论文: Safety With Limited Range Sensing Constraints For …

Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a…

We propose a novel cooperative joint sensing-communication (JSC) unmanned aerial vehicle (UAV) network that can achieve downward-looking detection and transmit detection data simultaneously using the same time and frequency resources by…

This manuscript presents a control barrier function based approach to shared control for preventing a vehicle from entering the part of the state space where it is unrecoverable. The maximal phase recoverable ellipse is presented as a safe…

Fluid antenna system (FAS) is emerging as a key technology for enhancing spatial flexibility and sensing accuracy in future wireless systems. This paper investigates an unmanned aerial vehicle (UAV)-enabled FAS for multi-target wireless…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

Unmanned Aerial Vehicles (UAVs) are indispensable for infrastructure inspection, surveillance, and related tasks, yet they also introduce critical security challenges. This survey provides a wide-ranging examination of the anti-UAV domain,…

Unmanned aerial vehicles (UAVs) are widely applied in civil applications, such as disaster relief, agriculture and cargo transportation, etc. With the massive number of UAV flight activities, the anti-collision technologies aiming to avoid…

This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…

Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this safety-critical capability, we present ViSafe, a high-speed…

This paper presents a lifting-wing multirotor UAV that allows long-range flight. The UAV features a lifting wing in a special mounting angle that works together with rotors to supply lift when it flies forward, achieving a reduction in…

Recent technological advancements in small-scale unmanned aerial vehicles (UAVs) have led to the development of companion UAVs. Similar to conventional companion robots, companion UAVs have the potential to assist us in our daily lives and…

The unmanned aerial vehicle (UAV) needs to sense the environment to ensure safe flight, and the sensing accuracy and communication delay performance are two important indicators of safe flight. The strategy of using integrated sensing and…

Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can be characterized by Lyapunov functions. Reachability…

Cellular-connected unmanned aerial vehicles (UAVs) will inevitably be integrated into future cellular networks as new aerial mobile users. Providing cellular connectivity to UAVs will enable a myriad of applications ranging from online…

We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…

Safe autonomy is important in many application domains, especially for applications involving interactions with humans. Existing safe control algorithms are similar to one another in the sense that: they all provide control inputs to…

This paper investigates the safety guaranteed problem in spacecraft inspection missions, considering multiple position obstacles and logical attitude forbidden zones. In order to address this issue, we propose a control strategy based on…

This paper develops a smooth safety-filtering framework for nonlinear control-affine systems under limited perception. Classical Control Barrier Function (CBF) filters assume global availability of the safety function - its value and…

Small drones are becoming a part of our everyday life. They are used in a wide variety of commercial applications, and the number of drones in the air is steadily growing. To ensure the safe operation of drones, traffic management rules…

In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This…