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

We present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…

We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this…

Context and motivation: The development and operation of critical software that contains machine learning (ML) models requires diligence and established processes. Especially the training data used during the development of ML models have…

We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars. MLNav makes judicious use of machine learning to enhance…

Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data. Thus, algorithms that monitor learned policies at test time and provide early warnings of failure are…

In an era defined by rapid data evolution, traditional Machine Learning (ML) models often struggle to adapt to dynamic environments. Evolving Machine Learning (EML) has emerged as a pivotal paradigm, enabling continuous learning and…

This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…

After a machine learning (ML)-based system is deployed, monitoring its performance is important to ensure the safety and effectiveness of the algorithm over time. When an ML algorithm interacts with its environment, the algorithm can affect…

With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…

Real-time monitoring of critical parameters is essential for energy systems' safe and efficient operation. However, traditional sensors often fail and degrade in harsh environments where physical sensors cannot be placed (inaccessible…

Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…

Runtime monitoring of autonomous systems traditionally relies on mapping continuous sensor observations to discrete logical propositions defined over low-dimensional state variables. This abstraction breaks down in perception-driven…

Uncooperative unmanned aerial vehicles (UAVs) pose emerging threats to critical infrastructure and border protection by operating as rogue user equipment (UE) within cellular networks, consuming resources, creating interference, and…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

The airworthiness and safety of a non-pedigreed autopilot must be verified, but the cost to formally do so can be prohibitive. We can bypass formal verification of non-pedigreed components by incorporating Runtime Safety Assurance (RTSA) as…

The unmanned aerial vehicle (UAV) based multi-access edge computing (MEC) appears as a popular paradigm to reduce task processing latency. However, the secure offloading is an important issue when occurring aerial eavesdropping. Besides,…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

Large language models (LLMs) have significantly facilitated human life, and prompt engineering has improved the efficiency of these models. However, recent years have witnessed a rise in prompt engineering-empowered attacks, leading to…

Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…

With the rising popularity of UAVs in the civilian world, we are currently witnessing and paradim shift in terms of operational safety of flying vehicles. Safe and ubiquitous human-system interaction shall remain the core requirement but…