相关论文: Introducing DAIMYO: a first-time-right dynamic des…
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of…
Approaching a set goal for a UAV comprises a trajectory plan and a controller design (control after plan problems). The optimal trajectory (reference) is calculated before being tracked with a proper controller. It is believed that the…
Recent advances in artificial intelligence have produced systems capable of remarkable performance across a wide range of tasks. These gains, however, are increasingly accompanied by concerns regarding long-horizon developmental behavior,…
This paper develops and evaluates the performance of an allocation agent to be potentially integrated into the onboard Detect and Avoid (DAA) computer of an Unmanned Aircraft System (UAS). We consider a UAS that can be fully controlled by…
In the course of developing digital and future aviation cabin concepts at the German Aerospace Center, the exploration of user-centered and acceptance-enhancing methods plays a central role. The challenge here is to identify the flexible…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
Unlike traditional multi-agent coordination frameworks, which assume a fixed number of agents, UAS traffic management (UTM) requires a platform that enables Uncrewed Aerial Systems (UAS) to freely enter or exit constrained low-altitude…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Urban air mobility (UAM) has attracted the attention of aircraft manufacturers, air navigation service providers and governments in recent years. Preventing the conflict among urban aircraft is crucial to UAM traffic safety, which is a key…
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…
Microarchitecture simulators are indispensable tools for microarchitecture designers to validate, estimate, and optimize new hardware that meets specific design requirements. While the quest for a fast, accurate and detailed…
Modern datacenter applications are prone to high tail latencies since their requests typically follow highly-dispersive distributions. Delivering fast interrupts is essential to reducing tail latency. Prior work has proposed both OS- and…
Unmanned aerial vehicles are rapidly transforming multiple applications, from agricultural and infrastructure monitoring to logistics and defense. Introducing greater autonomy to these systems can simultaneously make them more effective as…
Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
Given the spatial heterogeneity of land use patterns in most cities, large-scale UAM deployments will likely focus on specific areas, such as intertransfer traffic between suburbs and city centers. However, large-scale UAM operations…
Motion planning for autonomous driving (AD) faces a critical trade-off. While traditional rule-based pipelines offer verifiable safety and interpretability, they often fail to generalize in complex scenarios. Conversely, emerging…
As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a…
Computer-aided design (CAD) is a promising new area for the application of artificial intelligence (AI) and machine learning (ML). The current practice of design of cyber-physical systems uses the digital twin methodology, wherein the…