相关论文: Robotics During a Pandemic: The 2020 NSF CPS Virtu…

This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended…

Engineering swarms of cyber-physical systems (CPSs) is a complex process. We present the CPSwarm workbench that creates an automated design workflow to ease this process. This formalized workflow guides the user from modeling, to code…

We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic…

The coronavirus disease 2019 (COVID-19) global pandemic poses the threat of overwhelming healthcare systems with unprecedented demands for intensive care resources. Managing these demands cannot be effectively conducted without a nationwide…

Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…

Space agencies and private companies prepare the beginning of human space exploration for the 2030s with missions to put the first human on the Mars surface. The absence of gravity and radiation, along with distance, isolation and hostile…

Autonomous systems are highly complex and present unique challenges for the application of formal methods. Autonomous systems act without human intervention, and are often embedded in a robotic system, so that they can interact with the…

This paper addresses multi-UAV uniform sweep coverage in an unknown convex environment, where a homogeneous UAV swarm must evenly visit every portion of the environment for a sampling task without access to their position and orientation.…

The continuous evolution of small Unmanned Aerial Systems (sUAS) demands advanced testing methodologies to ensure their safe and reliable operations in the real-world. To push the boundaries of sUAS simulation testing in realistic…

Human long duration exploration missions (LDEMs) raise a number of technological challenges. This paper addresses the question of the crew autonomy: as the distances increase, the communication delays and constraints tend to prevent the…

Through the continued progress and advances of networking technology and also through efforts like Industry 4.0, SmartGrid, SmartCities, systems, that have been self-sustaining for the most part are now forming networked Cyber-physical…

This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary…

Cyber Physical Systems (CPS) are the conjoining of an entities' physical and computational elements. The development of a typical CPS system follows a sequence from conceptual modeling, testing in simulated (virtual) worlds, testing in…

The pandemic linked to COVID-19 infection represents an unprecedented clinical and healthcare challenge for many medical researchers attempting to prevent its worldwide spread. This pandemic also represents a major challenge for…

Testing and validating Cyber-Physical Systems (CPSs) in the aerospace domain, such as field testing of drone rescue missions, poses challenges due to volatile mission environments, such as weather conditions. While testing processes and…

This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often…

The outbreak of coronavirus disease 2019 (COVID-19) has led to significant challenges for schools, workplaces and communities to return to operations during the pandemic, requiring policymakers to balance individuals' safety and operational…

Traditional academic competitions that foster collaboration from student communities all around the globe have either been postponed indefinitely or cancelled due to restrictions posed upon in-person gathering. Owing to this, virtual…

Cyber-Physical Systems (CPS) often leverage Reinforcement Learning (RL) techniques to adapt dynamically to changing environments and optimize performance. However, it is challenging to construct safety cases for RL components. We therefore…