相关论文: Evaluation of Runtime Monitoring for UAV Emergency…

The paper presents a robust parameter learning methodology for identification of nonlinear dynamical system from data while satisfying safety and stability constraints in the context of learning from demonstration (LfD) methods. Extreme…

Autonomous systems that rely on Machine Learning (ML) utilize online fault tolerance mechanisms, such as runtime monitors, to detect ML prediction errors and maintain safety during operation. However, the lack of human-interpretable…

Machine Learning (ML) may offer new capabilities in airborne systems. However, as any piece of airborne systems, ML-based systems will be required to guarantee their safe operation. Thus, their development will have to be demonstrated to be…

Automated Uncrewed Aerial Vehicle (UAV) landing is crucial for autonomous UAV services such as monitoring, surveying, and package delivery. It involves detecting landing targets, perceiving obstacles, planning collision-free paths, and…

Emergency stop (E-stop) mechanisms are the de facto standard for robot safety. However, for humanoid robots, abruptly cutting power can itself cause catastrophic failures; instead, an emergency stop must execute a predefined fallback…

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…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…

Although an ever-growing number of applications employ deep learning based systems for prediction, decision-making, or state estimation, almost no certification processes have been established that would allow such systems to be deployed in…

We present a safety verification framework for design-time and run-time assurance of learning-based components in aviation systems. Our proposed framework integrates two novel methodologies. From the design-time assurance perspective, we…

LLM-enabled applications are rapidly reshaping the software ecosystem by using large language models as core reasoning components for complex task execution. This paradigm shift, however, introduces fundamentally new reliability challenges…

Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…

Urban Air Mobility is a new concept of regional aviation that has been growing in popularity as a solution to the issue of ever-increasing ground traffic. Electric vehicles with vertical take-off and landing capabilities are being developed…

There is an emerging trend in applying deep learning methods to control complex nonlinear systems. This paper considers enhancing the runtime safety of nonlinear systems controlled by neural networks in the presence of disturbance and…

Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…

We present a model-based approach to learning robust runtime monitors for autonomous systems. Runtime monitors play a crucial role in raising the level of assurance by observing system behavior and predicting potential safety violations. In…

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.…

The rapid growth of the low-altitude economy has driven the widespread adoption of unmanned aerial vehicles (UAVs). This growing deployment presents new challenges for UAV trajectory planning in complex urban environments. However, existing…