4 papers
Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation
Alex Zongo, Peng Wei
Learning-based separation assurance for small Unmanned Aircraft Systems (sUAS) achieves near-zero collision rates in simulation, but assumes accurate position and velocity informat…
MARS-Dragonfly: Agile and Robust Flight Control of Modular Aerial Robot Systems
Rui Huang, Zhiqian Cai, Siyu Tang +6
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditio…
Robust Multi-Agent Reinforcement Learning for Small UAS Separation Assurance under GPS Degradation and Spoofing
Alex Zongo, Filippos Fotiadis, Ufuk Topcu +1
We address robust separation assurance for small Unmanned Aircraft Systems (sUAS) under GPS degradation and spoofing via Multi-Agent Reinforcement Learning (MARL). In cooperative s…
Edge Information Hub: Orchestrating Satellites, UAVs, MEC, Sensing and Communications for 6G Closed-Loop Controls
Chengleyang Lei, Wei Feng, Peng Wei +3
An increasing number of field robots would be used for mission-critical tasks in remote or post-disaster areas. Due to the limited individual abilities, these robots usually requir…