9 papers
Interpretable Fuzzy Inference for UAV Target Tracking Using Bounding-Box Geometry
Reza Ahmari, Ahmad Mohammadi, Vahid Hemmati +5
Vision-based guidance of unmanned aerial vehicles (UAVs) toward unmanned ground vehicles (UGVs) supports cooperative aerial--ground robotics, but reliable continuous yaw estimation…
Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems
Reza Ahmari, Vahid Hemmati, Parham Kebria +3
Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guarantee that every predicted heading should be issued directly as a con…
Upper Bounds on the Generalization Error of Deep Learning Models via Local Robustness and Stability
Abdul-Rauf Nuhu, Parham M. Kebria, Vahid Hemmati +3
Generalization is a critical property of data-driven models, particularly deep learning models deployed in safety-critical applications. Robustness-based generalization bounds have…
Visual Heading Prediction for Autonomous Aerial Vehicles
Reza Ahmari, Ahmad Mohammadi, Vahid Hemmati +5
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications…
Conflict-Free Flight Scheduling Using Strategic Demand Capacity Balancing for Urban Air Mobility Operations
Vahid Hemmati, Yonas Ayalew, Ahmad Mohammadi +4
In this paper, we propose a conflict-free multi- agent flight scheduling that ensures robust separation in con- strained airspace for Urban Air Mobility (UAM) operations applicatio…
Volatility in Certainty (VC): A Metric for Detecting Adversarial Perturbations During Inference in Neural Network Classifiers
Vahid Hemmati, Ahmad Mohammadi, Abdul-Rauf Nuhu +3
Adversarial robustness remains a critical challenge in deploying neural network classifiers, particularly in real-time systems where ground-truth labels are unavailable during infe…
An Experimental Study of Trojan Vulnerabilities in UAV Autonomous Landing
Reza Ahmari, Ahmad Mohammadi, Vahid Hemmati +5
This study investigates the vulnerabilities of autonomous navigation and landing systems in Urban Air Mobility (UAM) vehicles. Specifically, it focuses on Trojan attacks that targe…
GPS Spoofing Attack Detection in Autonomous Vehicles Using Adaptive DBSCAN
Ahmad Mohammadi, Reza Ahmari, Vahid Hemmati +5
As autonomous vehicles become an essential component of modern transportation, they are increasingly vulnerable to threats such as GPS spoofing attacks. This study presents an adap…
A Validation Strategy for Deep Learning Models: Evaluating and Enhancing Robustness
Abdul-Rauf Nuhu, Parham Kebria, Vahid Hemmati +4
Data-driven models, especially deep learning classifiers often demonstrate great success on clean datasets. Yet, they remain vulnerable to common data distortions such as adversari…