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

Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…

Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybrid VTOLs the clear front-runners among UAM platforms. On the…

The safety of autonomous systems in dynamic and hazardous environments poses significant challenges. This paper presents a testing approach named SCALOFT for systematically assessing the safety of an autonomous aerial drone in a mine.…

Conventional approaches for ensuring the security of application software at run-time, through monitoring, either produce (high rates of) false alarms (e.g. intrusion detection systems) or limit application performance (e.g. run-time…

Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…

Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear…

Runtime Verification is a lightweight formal verification technique. It is used to verify at runtime whether the system under analysis behaves as expected. The expected behaviour is usually formally specified by means of properties, which…

When we rely on deep-learned models for robotic perception, we must recognize that these models may behave unreliably on inputs dissimilar from the training data, compromising the closed-loop system's safety. This raises fundamental…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video…

High-accurate machine learning (ML) image classifiers cannot guarantee that they will not fail at operation. Thus, their deployment in safety-critical applications such as autonomous vehicles is still an open issue. The use of fault…

We use runtime verification (RV) to check various specifications in a smart apartment. The specifications can be broken down into three types: behavioral correctness of the apartment sensors, detection of specific user activities (known as…

This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…

For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for…

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 systems may put human life at risk, and a broad adoption of these…

Runtime verification, also known as runtime monitoring, consists of checking whether a system satisfies a given specification by observing the trace it produces during its execution. It is used as a lightweight verification technique to…

This paper studies runtime monitoring for persistent surveillance by autonomous robots when the autonomy stack is a black box. The environment is partitioned into finitely many parts, each carrying an uncertainty state that decreases when…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…

Some applications require an assurance that certain criteria are violated with only low probability. An alert is generated when the current course of action is likely to violate assurance criteria and the alert results in corrective action.…