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

Runtime monitors that are specified in a stream-based monitoring language tend to be easier to understand, maintain, and reuse than those written in a standard programming language. Because of their formal semantics, such specification…

To certify UAV operations in populated areas, risk mitigation strategies -- such as Emergency Landing (EL) -- must be in place to account for potential failures. EL aims at reducing ground risk by finding safe landing areas using on-board…

Runtime monitors assess whether a system is in an unsafe state based on a stream of observations. We study the problem where the system is subject to probabilistic uncertainty and described by a hidden Markov model. A stream of observations…

This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…

Context and motivation: The development and operation of critical software that contains machine learning (ML) models requires diligence and established processes. Especially the training data used during the development of ML models have…

Although an ever-growing number of applications employ deep learning based systems for prediction, decision-making, or state estimation, almost no certification processes have been established that would allow such systems to be deployed in…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…

This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…

Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…

Complex dynamical systems rely on the correct deployment and operation of numerous components, with state-of-the-art methods relying on learning-enabled components in various stages of modeling, sensing, and control at both offline and…

With the increasing use of Machine Learning (ML) in critical autonomous systems, runtime monitors have been developed to detect prediction errors and keep the system in a safe state during operations. Monitors have been proposed for…

The aim is to create reliable and verifiable fault detection software to detect abrupt changes in safety-critical dynamic systems. Fault detection methods are implemented as software on digital computers that monitor and control the system.…

Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…

There is an emerging trend in applying deep learning methods to control complex nonlinear systems. This paper considers enhancing the runtime safety of nonlinear systems controlled by neural networks in the presence of disturbance and…

Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…

The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

Stream-based monitoring is a runtime verification approach where a monitor aggregates streams of input data from sensors and other sources to give real-time statistics and assessments of a system's health. One of the central challenges in…

Fault injections are increasingly used to attack/test secure applications. In this paper, we define formal models of runtime monitors that can detect fault injections that result in test inversion attacks and arbitrary jumps in the control…