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We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

Search-based software testing (SBT) is an effective and efficient approach for testing automated driving systems (ADS). However, testing pipelines for ADS testing are particularly challenging as they involve integrating complex driving…

The aim of this work is to develop an approach that enables Unmanned Aerial System (UAS) to efficiently learn to navigate in large-scale urban environments and transfer their acquired expertise to novel environments. To achieve this, we…

Autonomous Vehicles (AVs) need an accurate and up-to-date representation of the environment for safe navigation. Traditional methods, which often rely on detailed environmental representations constructed offline, struggle in dynamically…

In this paper, we consider the use of UAVs to provide wireless connectivity services, for example after failures of wireless network components or to simply provide additional bandwidth on demand, and introduce the concept of UAVs as a…

Wireless underground sensor networks (WUSNs) can enable many important applications such as intelligent agriculture, pipeline fault diagnosis, mine disaster rescue, concealed border patrol, crude oil exploration, among others. The key…

As Autonomous Driving Systems (ADS) progress towards commercial deployment, there is an increasing focus on ensuring their safety and reliability. While considerable research has been conducted on testing methods for detecting faults in…

Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…

As aircraft systems become increasingly autonomous, the human-machine role allocation changes and opportunities for new failure modes arise. This necessitates an approach to identify the safety requirements for the increasingly autonomous…

Implementing a wireless mesh network in a real-life scenario requires a significant systems engineering effort to turn a network concept into a complete system. This paper presents an evaluation of a fielded system within the DARPA…

This study develops a framework for unmanned aerial systems (UASs) to monitor fall hazard prevention systems near unprotected edges and openings in high-rise building projects. A three-step machine-learning-based framework was developed and…

This paper addresses the problem of autonomous UAV search missions, where a UAV must locate specific Entities of Interest (EOIs) within a time limit, based on brief descriptions in large, hazard-prone environments with keep-out zones. The…

The proliferation of small unmanned aerial systems (sUAS) operating under autonomous guidance has created an urgent need for non-kinetic neutralization methods that are immune to conventional radio-frequency jamming. This paper presents a…

In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose…

Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with low amount of data. Multi-output Gaussian…

To improve the security and robustness of autonomous driving models, this paper presents SMET, a scenariobased metamorphic testing tool for autonomous driving models. The metamorphic relationship is divided into three dimensions (time,…

The growing use of Unmanned Aerial Vehicles (UAVs) for various applications requires ubiquitous and reliable connectivity for safe control and data exchange between these devices and ground terminals. Depending on the application,…

Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone,…

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…