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Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates

Andrew J. Barry, Anirudha Majumdar, Russ Tedrake
2012 2012 IEEE International Conference on Robotics and Automation  
Using recent advances in sums-ofsquares programming that allow for efficient computation of barrier functions, we search for global certificates of safety for the closed-loop system in a given environment  ...  We expect that these formal verification techniques will allow for the comparison, and ultimately optimization, of reactive controllers for robustness to varying initial conditions and environments.  ...  CONCLUSION In this paper, we have presented a method for applying formal tools from Sums-of-Squares optimization in order to verify reactive controllers for UAV flight through cluttered environments.  ... 
doi:10.1109/icra.2012.6225351 dblp:conf/icra/BarryMT12 fatcat:uecirh22bfan3dvyydfylo5idi

2021 International Conference on Unmanned Aircraft Systems - Final program

2021 2021 International Conference on Unmanned Aircraft Systems (ICUAS)  
However, the COVID-19 challenge does not allow for the level of flexibility we had hoped for. In any case, I strongly believe that the conference will meet and exceed your expectations.  ...  I offer my best wishes for a successful and productive event, I look forward to seeing all of you, physically or virtually, in Athens, Greece, and I also look forward to continuing working with you.  ...  UAVs stem as a promising solution for power infrastructure inspection; however, their use is mostly limited by the fact that a remote pilot is in control of flight and mission processes, rendering reliable  ... 
doi:10.1109/icuas51884.2021.9476682 fatcat:crdrcczqlbaebncnd76b47hfsu

Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms

Bryan Convens, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra
2021 Frontiers in Robotics and AI  
This article provides a theory for provably safe and computationally efficient distributed constrained control, and describes an application to a swarm of nano-quadrotors with limited on-board hardware  ...  The control strategy is implemented in real-time on-board palm-sized unmanned erial vehicles, and achieves safe swarm coordination without relying on any offline trajectory computations.  ...  Safety barrier certificates based on exponential control barrier functions are used in (Wang et al., 2017) to ensure in a minimally invasive way collision-free maneuvers for teams of small quadrotors flying  ... 
doi:10.3389/frobt.2021.663809 fatcat:uajgejz54bggrbfxpplwgxivwm

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
We are certain that all of us will take pleasure in visiting Athens and in travelling through the city's incredible history. We look forward to seeing all of you in Athens.  ...  I offer my best wishes for a successful and productive event, I look forward to seeing all of you in Athens, Greece, and I also look forward to continuing working with you. Kimon P.  ...  This paper explores 3D path planning for unmanned aerial vehicles (UAVs) in 3D point cloud environments.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

Table of Contents

2022 IEEE Robotics and Automation Letters  
Hauser Transition Analysis and Practical Flight Control for Ducted Fan Fixed-Wing Aerial Robot: Level Path Flight Mode Transition .  ...  Coros Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2022.3165102 fatcat:enjzebowe5hn7hsfwklc7nieuy

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2015 Budget Estimates

Department Of Defense Comptroller's Office
2014 Zenodo  
advanced control and sensory functions.  ...  The budget request details the proposed investments $80 million to develop new sets of tools for imaging and analytics of neural and synaptic brain activities that will improve diagnosis and care of wounded  ...  use of the clutter in the signal environment to make it difficult for an adversary to isolate a particular signal.  ... 
doi:10.5281/zenodo.1215345 fatcat:fjzhmynqjbaafk67q2ckcblj2m

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2016 Budget Estimates

Department Of Defense Comptroller's Office
2015 Zenodo  
The Defense Advanced Research Projects Agency (DARPA) FY2016 amounted to $2.868 billion in the President's request to support high-risk, high-reward research.  ...  use of the clutter in the signal environment to make it difficult for an adversary to isolate a particular signal.  ...  -Design and develop subscale flight models for configuration viability and control law validation. -Conduct subscale model flight testing for controls development, verification, and validation.  ... 
doi:10.5281/zenodo.1215366 fatcat:cqn5tyfixjanzp5x3tgfkpedri

2020 Index IEEE Systems Journal Vol. 14

2020 IEEE Systems Journal  
., JSYST Sept. 2020 3999-4006 CB-PS: An Efficient Short-Certificate-Based Proxy Signature Scheme for UAVs.  ...  ., +, JSYST Dec. 2020 5429- 5440 Acceleration control Safety Cruise Control of Connected Vehicles Using Radar and Vehicle-to-Ve- hicle Communication.  ...  Principal component analysis Energy-Efficient Design of MI Communication-Based 3-D Non-Conventional WSNs.  ... 
doi:10.1109/jsyst.2021.3054547 fatcat:zf2aafvnfzbeje32qei5563myu

2021 Index IEEE Transactions on Vehicular Technology Vol. 70

2021 IEEE Transactions on Vehicular Technology  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  -that appeared in this periodical during 2021, and items from previous years that were commented upon or corrected in 2021.  ...  ., +, TVT May 2021 5178-5183 FAMU: Fault-Tolerant Mutual Assisted Virtual Emotion Barrier System Using Intelligent Smart UAVs.  ... 
doi:10.1109/tvt.2022.3151213 fatcat:vzuzqu54irebpibzp3ykgy5nca

Computational Air Traffic Management

Marc Anthony Azzopardi, James F. Whidborne
2011 2011 IEEE/AIAA 30th Digital Avionics Systems Conference  
being compounded by the inability of air traffic controllers to optimise ATM operation in real-time.  ...  The traffic density using such a system can be realistically increased many times higher than current levels while significantly improving on the current levels of safety, operating cost, environmental  ...  The pilot for instance is free to modify flight plans in the interest of safety.  ... 
doi:10.1109/dasc.2011.6095967 fatcat:5kfu6ba5h5g7pdffh7z3ftdjai

Transdisciplinary consolidation of financial technologies with knowledge systems
Трансдисциплінарна консолідація фінансових технологій із системами знань

Oleksandr LYUBICH, SESE "The Academy of Financial Management", Oleksandr STRYZHAK, SESE "The Academy of Financial Management"
2021 Fìnansi Ukraïni  
Consolidated interaction is carried out in the process of implementing innovative projects. An aggregative model of consolidated interaction is presented.  ...  methods to empower high-speed navigation in cluttered environments for small, autonomous UAVs.  ...  At this time, the Department of Defense (DOD) became interested in using computers for command and control.  ... 
doi:10.33763/finukr2021.11.054 fatcat:edc3aarta5gq7be2wixkynjz7q

Self-Organized Evolutionary Process in Sets of Interdependent Variables near the Midpoint of Phase Transition in K-Satisfiability [chapter]

Michael Korkin
2001 Lecture Notes in Computer Science  
Ackerman, John T Strategic Studies Quarterly: An Air Force-Sponsored Strategic Forum for Military, Government, and Academic Professionals. Volume 2, Number 1 -7 Acuff, Hugh F  ...  Within the field of aeronautics alone, we find the need for verification of algorithms for separation assurance, air traffic control, auto-pilot, Unmanned Aerial Vehicles (UAVs), adaptive avionics, automated  ...  2) Foliage clutter modeling using narrowband and UWB radars; 3) A propagation Environment Modeling in Foliage using UWB radars; 4) Target detection in foliage using short-time Fourier transform and UWB  ... 
doi:10.1007/3-540-45443-8_20 fatcat:ght26tu6avh57kkp54kifofaee

Penilaian Kualiti Laporan EIA Dalam Aspek Kajian Hakisan Tanah [article]

Abdul Mahmud
2020 Figshare  
The scale of measurement 0 to 5 has been used to rating score quality for each item. 35 samples of EIA report for housing projects from the year 2012 to 2016 were evaluated.  ...  Study shows that, there are weaknesses among the developer in terms of implementing erosion anda sedimentation control measures.  ...  The benefit of this research is that the UAV can use Xiaomi Yi which a lighter weight compare to Canon Powershot XS230HS to extend the flight time thus increasing the coverage of the map.  ... 
doi:10.6084/m9.figshare.12095736 fatcat:fzsit3wyqjc3fni4no4zzopz5e

Aerial robotics

Sylvain Bertrand, Julien Marzat, Helene Piet-Lahanier, Arthur Kahn, Yohan Rochefort, Pierre-Marie Basset, Arnault Tremolet, Thierry Lefebvre, Martial Sanfourche, Aurelien Plyer, Anthelme Bernard-Brunel, Guy Le Besnerais (+23 others)
mapping for fully autonomous flight and/or environment mapping, and avionics architecture and certification.  ...  Several issues are addressed, such as mechanical design and pre-sizing to optimize performance, state estimation and feedback control design for improved stability in large flight envelopes, planning and  ...  A high potential for innovation exists in the field of RW-UAVs. Hence, a good candidate as a demonstration exercise will be to deal with the pre-sizing of an  ... 
doi:10.12762/2014.al08 fatcat:7sd7a6c5j5buzl6xjci2gjsb4m

2015 Jahresbericht Annual Report

Registernummer Amtsgericht, Saarbrücken Hrb, Vorsitzender Des Aufsichtsrates, Ing, Jähnichen Stefan, Raimund Geschäftsführung, Seidel, Meißner Heike, Gesellschafter
Martin Rinard for his support and contribution to the organization of the seminar. We thank Sara Achour for her help with preparing the full report.  ...  We would like to thank Dagmar Glaser and the staff at Schloss Dagstuhl for their continuous support and great hospitality which was the basis for the success of this seminar. Acknowledgements.  ...  objective) on the entire system behavior, in the presence of a reactive environment.  ... 
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