相关论文: An Embedded Decision Support System for Runway Saf…

Accurate accident anticipation remains challenging when driver cognition and dynamic road conditions are underrepresented in predictive models. In this paper, we propose CAMERA (Context-Aware Multi-modal Enhanced Risk Anticipation), a…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

Recent advances in machine learning technologies and sensing have paved the way for the belief that safe, accessible, and convenient autonomous vehicles may be realized in the near future. Despite tremendous advances within this context,…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

Rocket recycling is a crucial pursuit in aerospace technology, aimed at reducing costs and environmental impact in space exploration. The primary focus centers on rocket landing control, involving the guidance of a nonlinear underactuated…

High level Automated Driving Systems (ADS) can handle many situations, but they still encounter situations where human intervention is required. In systems where a physical driver is present in the vehicle, typically SAE Level 3 systems,…

Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast incrementally built ESDF map is the bottleneck for…

As small Uncrewed Aircraft Systems (sUAS) increasingly operate in the national airspace, safety concerns arise due to a corresponding rise in reported airspace violations and incidents, highlighting the need for a safe mechanism for sUAS…

Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critical in healthcare settings where robots interact with human…

Autonomous flight for UAVs relies on visual information for avoiding obstacles and ensuring a safe collision-free flight. In addition to visual clues, safe UAVs often need connectivity with the ground station. In this paper, we study the…

The design of aircraft collision avoidance algorithms is a subtle but important challenge that merits the need for provable safety guarantees. Obtaining such guarantees is nontrivial given the unpredictability of the interplay of the…

Reconfigurable intelligent surfaces (RISs), which can deliberately adjust the phase of incident waves, have shown enormous potentials to reconfigure the signal propagation for performance enhancement. In this paper, we investigate the…

Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The…

The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…

Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and…

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…

Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a…

In this paper we focus on the evaluation of contextual autonomy for robots. More specifically, we propose a fuzzy framework for calculating the autonomy score for a small Unmanned Aerial Systems (sUAS) for performing a task while…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

The capability to follow a lead-vehicle and avoid rear-end collisions is one of the most important functionalities for human drivers and various Advanced Driver Assist Systems (ADAS). Existing safety performance justification of the…