相关论文: Run Time Assurance for Simultaneous Constraint Sat…
Vision-language-action models (VLAs) show potential as generalist robot policies. However, these models pose extreme safety challenges during real-world deployment, including the risk of harm to the environment, the robot itself, and…
Agile unmanned aerial vehicle (UAV) navigation in cluttered environments demands a planning architecture that is both computationally efficient and structurally expressive enough to reason over multiple feasible motions. This paper presents…
Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…
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…
We present the Neural Simplex Architecture (NSA), a new approach to runtime assurance that provides safety guarantees for neural controllers (obtained e.g. using reinforcement learning) of autonomous and other complex systems without unduly…
The aim of this article is to investigate the performance of near-field integrated sensing and communication (ISAC) systems using rotatable movable antennas (RMAs). In the proposed RMA-enabled system, the positions and rotations of antennas…
Many safety-critical control systems must operate under latent uncertainty that sensors cannot directly resolve at decision time. Such uncertainty, arising from unknown physical properties, exogenous disturbances, or unobserved environment…
Initial alignment is one of the key technologies in strapdown inertial navigation system (SINS) to provide initial state information for vehicle attitude and navigation. For some situations, such as the attitude heading reference system,…
Aircraft Ship Integrated Secure and Traverse (ASIST) is a system designed to arrest helicopters safely and efficiently on ships. Originally, a precision Helicopter Position Sensing Equipment (HPSE) tracked and monitored the position of the…
Non-fixed flexible antenna architectures, such as fluid antenna system (FAS), movable antenna (MA), and pinching antenna, have garnered significant interest in recent years. Among them, rotatable antenna (RA) technology has recently drawn…
Alignment plays a fundamental role in many machine learning problems, such as multi-network analysis, multimodal learning, and point cloud registration. Recent works increasingly leverage optimal transport (OT) for distributional alignment,…
Robotic foundation models achieve strong generalization by leveraging internet-scale vision-language representations, but their massive computational cost creates a fundamental bottleneck: high inference latency. In dynamic environments,…
Low-end embedded devices are increasingly used in various smart applications and spaces. They are implemented under strict cost and energy budgets, using microcontroller units (MCUs) that lack security features available in general-purpose…
Multi-object tracking (MOT) in computer vision remains a significant challenge, requiring precise localization and continuous tracking of multiple objects in video sequences. The emergence of data sets that emphasize robust…
In this paper, we investigate the attitude tracking problem of uncertain flexible spacecraft systems subject to external disturbances. In sharp contrast to existing results, the dynamics of flexible spacecraft systems and external…
Object tracking from Unmanned Aerial Vehicles (UAVs) is challenged by platform dynamics, camera motion, and limited onboard resources. Existing visual trackers either lack robustness in complex scenarios or are too computationally demanding…
This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…
Transmission switching (TS) has gained significant attention recently. However, barriers still remain and must be overcome before the technology can be adopted by the industry. The state of the art challenges include AC feasibility and…
Deep learning models have demonstrated exceptional performance across a wide range of computer vision tasks. However, their performance often degrades significantly when faced with distribution shifts, such as domain or dataset changes.…
Mission-critical system, such as satellite systems, healthcare systems, and nuclear power plant control systems, undergo rigorous testing to ensure they meet specific operational requirements throughout their operation. This includes…