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

Separation provision and collision avoidance to avoid other air traffic are fundamental components of the layered conflict management system to ensure safe and efficient operations. Pilots have visual-based separation responsibilities to…

Unmanned Aircraft Systems (UAS) with autonomous decision-making capabilities are of increasing interest for a wide area of applications such as logistics and disaster recovery. In order to ensure the correct behavior of the system and to…

Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance safety monitor that collaborates with any planner and uses a…

In concurrent and distributed systems, software components are expected to communicate according to predetermined protocols and APIs - and if a component does not observe them, the system's reliability is compromised. Furthermore, isolating…

This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…

We present a safety verification framework for design-time and run-time assurance of learning-based components in aviation systems. Our proposed framework integrates two novel methodologies. From the design-time assurance perspective, we…

Context: Dynamic production environments make it challenging to maintain reliable machine learning (ML) systems. Runtime issues, such as changes in data patterns or operating contexts, that degrade model performance are a common occurrence…

A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…

Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…

This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is based on the authors' previous research work, so it can be…

This paper investigates applications of eye tracking in transport aircraft design evaluations. Piloted simulations were conducted for a complete flight profile including take off, cruise and landing flight scenario using the transport…

Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not…

Deep neural networks (DNNs) are instrumental in realizing complex perception systems. As many of these applications are safety-critical by design, engineering rigor is required to ensure that the functional insufficiency of the DNN-based…

Stream-based monitoring assesses the health of safety-critical systems by transforming input streams of sensor measurements into output streams that determine a verdict. These inputs are often treated as accurate representations of the…

Context: Ensuring high levels of dependability in modern computer-based systems has become increasingly challenging due to their complexity. Although systems are validated at design time, their behavior can be different at runtime, possibly…

Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…

Unmanned aerial vehicles (UAVs), especially multicopters, have recently gained popularity for use in surveillance, monitoring, inspection, and search and rescue missions. Their maneuverability and ability to operate in confined spaces make…

Given the inherent non-deterministic nature of machine learning (ML) systems, their behavior in production environments can lead to unforeseen and potentially dangerous outcomes. For a timely detection of unwanted behavior and to prevent…

The emergence of a global market for urban air mobility and unmanned aerial systems has attracted many startups across the world. These organizations have little training or experience in the traditional processes used in civil aviation for…

This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…