相关论文: DECISIVE Test Methods Handbook: Test Methods for E…
Water quality monitoring is essential for protecting aquatic ecosystems and detecting environmental pollution. This paper presents the design and experimental validation of a bio-inspired miniature submarine for low-cost water quality…
With Highly Automated Driving (HAD), the driver can engage in non-driving-related tasks. In the event of a system failure, the driver is expected to reasonably regain control of the Automated Vehicle (AV). Incorrect system understanding may…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…
Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with…
This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously…
This technical report presents the detailed implementation of a Collision Avoidance System (CAS) for Unmanned Aerial Vehicles (UAVs), developed as a case study to demonstrate a rigorous methodology for achieving DO-178C compliance in…
As unmanned aerial systems (UASs) increasingly integrate into the US national airspace system, there is an increasing need to characterize how commercial and recreational UASs may encounter each other. To inform the development and…
AI systems, in particular with deep learning techniques, have demonstrated superior performance for various real-world applications. Given the need for tailored optimization in specific scenarios, as well as the concerns related to the…
In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP constraints induce limits on mission time requiring efficiency in…
Many engineering problems require identifying feasible domains under implicit constraints. One example is finding acceptable car body styling designs based on constraints like aesthetics and functionality. Current active-learning based…
This paper details our journey in designing and selecting a suitable application sandboxing mechanism for a satellite under development, with a focus on small satellites. Central to our study is the development of selection criteria for…
In this paper, we provide a performance analysis for practical unmanned aerial vehicle (UAV)-enabled networks. By considering both line-of-sight (LoS) and non-line-of-sight (NLoS) transmissions between aerial base stations (BSs) and ground…
Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…
We present an explainable AI-enhanced supervisory control framework for multi-agent robotics that combines (i) a timed-automata supervisor for safe, auditable mode switching, (ii) robust continuous control (Lyapunov-based controller for…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility…
Context: Software testability is the degree to which a software system or a unit under test supports its own testing. To predict and improve software testability, a large number of techniques and metrics have been proposed by both…
The manuscript discusses the increasing use of location-aware radio communication systems to support operational processes for the demanding aircraft cabin environment. In this context, the challenges for evaluation and integration of…
Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…
Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time-varying and uncertain. The USV is a 4.3 meter long, 150…