相关论文: Contextual Autonomy Evaluation of Unmanned Aerial …
Measuring an overall autonomy score for a robotic system requires the combination of a set of relevant aspects and features of the system that might be measured in different units, qualitative, and/or discordant. In this paper, we build…
This work presents and experimentally test the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real-time, in an autonomous fashion, and under constrained communications.…
This handbook outlines all test methods developed under the Development and Execution of Comprehensive and Integrated Subterranean Intelligent Vehicle Evaluations (DECISIVE) project by the University of Massachusetts Lowell for evaluating…
Small Unmanned Aerial Systems (sUAS) must meet rigorous safety standards when deployed in high-stress emergency response scenarios; however many reported accidents have involved humans in the loop. In this paper, we, therefore, present the…
Machine Learning methods have extensively evolved to support industrial big data methods and their corresponding need in gas turbine maintenance and prognostics. However, most unsupervised methods need extensively labeled data to perform…
As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…
Autonomous robots used in infrastructure inspection, space exploration and other critical missions operate in highly dynamic environments. As such, they must continually verify their ability to complete the tasks associated with these…
In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are…
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 increasing deployment of small Uncrewed Aerial Systems (sUAS) in diverse and often safety-critical environments demands rigorous validation of onboard decision logic under various conditions. In this paper, we present SaFUZZ, a…
Performance measurement of robotic controllers based on fuzzy logic, operating under uncertainty, is a subject area which has been somewhat ignored in the current literature. In this paper standard measures such as RMSE are shown to be…
Self-adaptive system (SAS) is capable of adjusting its behavior in response to meaningful changes in the operational context and itself. Due to the inherent volatility of the open and changeable environment in which SAS is embedded, the…
Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…
Recent advances in deep learning have enabled the development of autonomous systems that use deep neural networks for perception. Formal verification of these systems is challenging due to the size and complexity of the perception DNNs as…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Small Unmanned Aircraft Systems (sUAS) have gained widespread adoption across a diverse range of applications. This has introduced operational complexities within shared airspaces and an increase in reported incidents, raising safety…
There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…
Formal verification of agents representing robot behaviour is a growing area due to the demand that autonomous systems have to be proven safe. In this paper we present an abstract definition of autonomy which can be used to model autonomous…
Small Uncrewed Aerial Systems (sUAS) are increasingly deployed as autonomous swarms in search-and-rescue and other disaster-response scenarios. In these settings, they use computer vision (CV) to detect objects of interest and autonomously…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…