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

Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy…

Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…

In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the minimum distance between the safe regions associated with robots…

This paper jointly optimizes the flying location and wireless communication transmit power for an unmanned aerial vehicle (UAV) conducting covert operations. This is motivated by application scenarios such as military ground surveillance…

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…

Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive approach based on the Conditional Value-at-Risk Barrier…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…

Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…

A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…

This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…

This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can…

The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. This high level of usage requires autonomy in the system,…

In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with parametric uncertainty, which are augmented into the uncertain…

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify the probability that a system exits a given safe region of…

Micro unmanned aerial vehicles (mUAV) became very common in recent years. As a result of their widespread usage, when they are flown by hobbyists illegally, crucial risks are imposed and such mUAVs need to be sensed by security systems.…

Control Barrier Functions (CBFs) aim to ensure safety by constraining the control input at each time step so that the system state remains within a desired safe region. This paper presents a framework for CBFs in stochastic systems in the…

Unmanned aerial vehicle (UAV) is expected to bring transformative improvement to the integrated sensing and communication (ISAC) system. However, due to shared spectrum resources, it is challenging to achieve a critical trade-off between…