相关论文: Simulation-to-reality UAV Fault Diagnosis with Dee…

Autonomous robotic systems, such as quadrotors, are susceptible to actuator faults, and for the safe operation of such systems, timely detection and isolation of these faults is essential. Neural networks can be used for verification of…

Quality management in semiconductor manufacturing often relies on template matching with known golden standards. For Indium-Phosphide (InP) multi-project wafer manufacturing, low production scale and high design variability lead to such…

Drone detection has benefited from improvements in deep neural networks, but like many other applications, suffers from the availability of accurate data for training. Synthetic data provides a potential for low-cost data generation and has…

First-order reinforcement learning with differentiable simulation is promising for quadrotor control, but practical progress remains fragmented across task-specific settings. To support more systematic development and evaluation, we present…

Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers,…

Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable simulators offer improved sample efficiency through exact…

Current research directions in deep reinforcement learning include bridging the simulation-reality gap, improving sample efficiency of experiences in distributed multi-agent reinforcement learning, together with the development of robust…

Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challenging due to the sim-to-real gap. This issue becomes more…

This work provides a Deep Reinforcement Learning approach to solving a periodic review inventory control system with stochastic vendor lead times, lost sales, correlated demand, and price matching. While this dynamic program has…

This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…

This paper describes how advanced deep learning based computer vision algorithms are applied to enable real-time on-board sensor processing for small UAVs. Four use cases are considered: target detection, classification and localization,…

Accurate modeling of system dynamics is crucial for achieving high-performance planning and control of robotic systems. Although existing data-driven approaches represent a promising approach for modeling dynamics, their accuracy is limited…

Software development in the aerospace domain requires adhering to strict, high-quality standards. While there exist regulatory guidelines for commercial software in this domain (e.g., ARP-4754 and DO-178), these do not apply to software…

Simulation-to-simulation and simulation-to-real world transfer of neural network models have been a difficult problem. To close the reality gap, prior methods to simulation-to-real world transfer focused on domain adaptation, decoupling…

Mutation analysis is a well-established technique for assessing test quality in the traditional software development paradigm by injecting artificial faults into programs. Its application to deep learning (DL) has expanded beyond classical…

In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…

Catastrophic failures of marine engines imply severe loss of functionality and destroy or damage the systems irreversibly. Being sudden and often unpredictable events, they pose a severe threat to navigation, crew, and passengers. The…

While automated driving technology has achieved a tremendous progress, the scalable and rigorous testing and verification of safe automated and autonomous driving vehicles remain challenging. This paper proposes a learning-based…

Simulations are a pedagogical means of enabling a risk-free way for healthcare practitioners to learn, maintain, or enhance their knowledge and skills. Such simulations should provide an optimum amount of cognitive load to the learner and…

We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…