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

The advancement of automated vehicles introduces complex safety challenges, particularly in dynamic and unpredictable environments where AI-enabled perception systems must operate reliably. Ensuring compliance with safety standards such as…

Modern autonomous systems with machine learning components often use uncertainty quantification to help produce assurances about system operation. However, there is a lack of consensus in the community on what uncertainty is and how to…

The prediction quality of machine learnt models and the functionality they ultimately enable (e.g., object detection), is typically evaluated using a variety of quantitative metrics that are specified in the associated model performance…

The observable behavior of a system usually carries useful information about its internal state, properties, and potential future behaviors. In this paper, we introduce configuration monitoring to determine an unknown configuration of a…

Runtime monitoring is an essential part of guaranteeing the safety of cyber-physical systems. Recently, runtime monitoring frameworks based on formal specification languages gained momentum. These languages provide valuable abstractions for…

A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

As Machine Learning (ML) makes its way into aviation, ML enabled systems including low criticality systems require a reliable certification process to ensure safety and performance. Traditional standards, like DO 178C, which are used for…

Operators performing high-stakes, safety-critical tasks - such as air traffic controllers, surgeons, or mission control personnel - must maintain exceptional cognitive performance under variable and often stressful conditions. This paper…

Runtime monitoring is essential for the violation detection during the underlying software system execution. In this paper, an investigation of the monitoring activity of MAPE-K control loop is performed which aims at exploring:(1) the…

Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and…

The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…

This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…

Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…

This paper presents a flight control design for compound Vertical Takeoff and Landing (VTOL) vehicles. With their multitude of degrees of controllability as well as the significant variations in their flight characteristics, VTOL vehicles…

Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…

Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

Runtime verification offers scalable solutions to improve the safety and reliability of systems. However, systems that require verification or monitoring by a third party to ensure compliance with a specification might contain sensitive…

As unmanned aircraft systems (UASs) continue to integrate into the U.S. National Airspace System (NAS), there is a need to quantify the risk of airborne collisions between unmanned and manned aircraft to support regulation and standards…