Runtime assurance for safety-critical systems: An introduction to safety filtering approaches for complex control systems
More than three miles above the Arizona desert, an F-16 student pilot experienced a gravity-
induced loss of consciousness, passing out while turning at nearly 9Gs (nine times the force …
induced loss of consciousness, passing out while turning at nearly 9Gs (nine times the force …
Experimental comparison of fiducial markers for pose estimation
M Kalaitzakis, S Carroll, A Ambrosi… - 2020 International …, 2020 - ieeexplore.ieee.org
Accurate localization is crucial for the autonomous navigation and control of Unmanned
Aircraft Systems (UAS). In most applications, localization is provided from a Global …
Aircraft Systems (UAS). In most applications, localization is provided from a Global …
Constructive barrier certificates with applications to fixed-wing aircraft collision avoidance
E Squires, P Pierpaoli… - 2018 IEEE Conference on …, 2018 - ieeexplore.ieee.org
In this paper we discuss how to construct a barrier certificate for a control affine system
subject to actuator constraints. We motivate this discussion examining collision avoidance …
subject to actuator constraints. We motivate this discussion examining collision avoidance …
Fault-tolerant rendezvous of multirobot systems
H Park, SA Hutchinson - IEEE transactions on robotics, 2017 - ieeexplore.ieee.org
In this paper, we propose a distributed control policy to achieve rendezvous by a set of
robots even when some robots in the system do not follow the prescribed policy. These …
robots even when some robots in the system do not follow the prescribed policy. These …
Kilogrid: a novel experimental environment for the Kilobot robot
We present the Kilogrid, an open-source virtualization environment and data logging
manager for the Kilobot robot, Kilobot for short. The Kilogrid has been designed to extend …
manager for the Kilobot robot, Kilobot for short. The Kilogrid has been designed to extend …
DOTS: An open testbed for industrial swarm robotic solutions
S Jones, E Milner, M Sooriyabandara… - arXiv preprint arXiv …, 2022 - arxiv.org
We present DOTS, a new open access testbed for industrial swarm robotics
experimentation. It consists of 20 fast agile robots with high sensing and computational …
experimentation. It consists of 20 fast agile robots with high sensing and computational …
Localization in densely packed swarms using interrobot collisions as a sensing modality
As the size of robots decreases in multirobot systems, collisions cease to be catastrophic
events that need to be avoided at all costs. This implies that less conservative, coordinated …
events that need to be avoided at all costs. This implies that less conservative, coordinated …
A portable, 3D-printing enabled multi-vehicle platform for robotics research and education
microMVP is an affordable, portable, and open source micro-scale mobile robot platform
designed for robotics research and education. As a complete and unique multi-vehicle …
designed for robotics research and education. As a complete and unique multi-vehicle …
Distributed formation control under arbitrarily changing topology
The problem of controlling a group of agents to achieve a desired geometric formation is
considered. We provide sufficient conditions under which agents autonomously achieve any …
considered. We provide sufficient conditions under which agents autonomously achieve any …
[PDF][PDF] Collisions as Information Sources in Densely Packed Multi-Robot Systems Under Mean-Field Approximations.
As the spatial scale of robots decrease in multirobot systems, collisions cease to be
catastrophic events that need to be avoided at all costs. This implies that less conservative …
catastrophic events that need to be avoided at all costs. This implies that less conservative …