相关论文: Monitoring Unmanned Aircraft: Specification, Integ…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

Unmanned aerial vehicles (UAVs) have been increasingly utilized in various civilian and military applications such as remote sensing, border patrolling, disaster monitoring, and communication coverage extension. However, there are still…

Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…

Decentralized air traffic management requires coordination among self-interested stakeholders operating under shared safety and capacity constraints, where conventional centralized or implicitly cooperative models do not adequately capture…

This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…

Condition monitoring of industrial systems is crucial for ensuring safety and maintenance planning, yet notable challenges arise in real-world settings due to the limited or non-existent availability of fault samples. This paper introduces…

Non-Intrusive Load Monitoring (NILM) is an important application to monitor household appliance activities and provide related information to house owner or/and utility company via a single sensor installed at the electrical entry of the…

Users wanting to monitor distributed or component-based systems often perceive them as monolithic systems which, seen from the outside, exhibit a uniform behaviour as opposed to many components displaying many local behaviours that together…

In formal verification, runtime monitoring consists of observing the execution of a system in order to decide as quickly as possible whether or not it satisfies a given property. We consider monitoring in a distributed setting, for…

In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…

Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…

The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…

The ubiquitous reliance on software systems increases the need for ensuring that systems behave correctly and are well protected against security risks. Runtime enforcement is a dynamic analysis technique that utilizes software monitors to…

We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…

In this paper, we propose a data-driven framework for collaborative wideband spectrum sensing and scheduling for networked unmanned aerial vehicles (UAVs), which act as the secondary users to opportunistically utilize detected spectrum…

Rotating machines like engines, pumps, or turbines are ubiquitous in modern day societies. Their mechanical parts such as electrical engines, rotors, or bearings are the major components and any failure in them may result in their total…

Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…