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Safety and resilience are critical for autonomous unmanned aerial vehicles (UAVs). We introduce MAVFI, the micro aerial vehicles (MAVs) resilience analysis methodology to assess the effect of silent data corruption (SDC) on UAVs' mission…
Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted formulations and does not support…
The emerging integration of robots into everyday life brings several major challenges. Compared to classical industrial applications, more flexibility is needed in combination with real-time reactivity. Learning-based methods can train…
As a driving force in the advancement of intelligent in-orbit applications, DNN models have been gradually integrated into satellites, producing daily latency-constraint and computation-intensive tasks. However, the substantial computation…
Determining contingency aware dispatch decisions by solving a security-constrained optimal power flow (SCOPF) is challenging for real-world power systems, as the high problem dimensionality often leads to impractical computational…
The Mars Curiosity rover is frequently sending back engineering and science data that goes through a pipeline of systems before reaching its final destination at the mission operations center making it prone to volume loss and data…
The rise of programmable data plane (PDP) and in-network computing (INC) paradigms paves the way for the development of network devices (switches, network interface cards, etc.) capable of performing advanced processing tasks. This allows…
We present a dataset of several fault types in control surfaces of a fixed-wing Unmanned Aerial Vehicle (UAV) for use in Fault Detection and Isolation (FDI) and Anomaly Detection (AD) research. Currently, the dataset includes processed data…
This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion…
A cooperative intelligent transport system (C-ITS) uses vehicle-to-everything (V2X) technology to make self-driving vehicles safer and more efficient. Current C-ITS applications have mainly focused on real-time information sharing, such as…
We introduce a user mode file system, CannyFS, that hides latency by assuming all I/O operations will succeed. The user mode process will in turn report errors, allowing proper cleanup and a repeated attempt to take place. We demonstrate…
High-fidelity scale-resolving simulations of turbulent flows quickly become prohibitively expensive, especially at high Reynolds numbers. As a remedy, we may use multifidelity models (MFM) to construct predictive models for flow quantities…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
The intelligent Data Delivery Service (iDDS) has been developed to cope with the huge increase of computing and storage resource usage in the coming LHC data taking. iDDS has been designed to intelligently orchestrate workflow and data…
This thesis enhances the autonomy of the M4 (Multi-Modal Mobility Morphobot) robot, designed for Mars and rescue missions. The research enables the robot to autonomously select its locomotion mode and path in complex terrains. Focusing on…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
Many algorithms in workflow scheduling and resource provisioning rely on the performance estimation of tasks to produce a scheduling plan. A profiler that is capable of modeling the execution of tasks and predicting their runtime…
Emerging cyber-physical systems increasingly require low-latency inference from streaming sensor data while maintaining models that reflect complex and evolving physical processes. In many domains, however, model updates depend on…
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…
Failure Mode Reasoning (FMR) is a novel approach for analyzing failure in a Safety Instrumented System (SIS). The method uses an automatic analysis of an SIS program to calculate potential failures in parts of the SIS. In this paper we use…