4 accepted papers
Tactile sensing is crucial for robots to achieve human-like manipulation capabilities and safe interaction with the environment. Existing piezoresistive tactile sensors often suffer from limited spatial resolution and poor conformability to contact objects due to their unstretchable contact surfaces
In this paper, we present a generic fault-tolerant control (FTC) strategy via reinforcement learning (RL). We demonstrate the effectiveness of this method on quadcopter unmanned aerial vehicles (UAVs). The fault-tolerant control policy is trained to handle actuator and sensor fault/attack. Unlike tr…
Micro Aerial Vehicles (MAVs) rely on onboard attitude and position sensors for autonomous flight. Due to their size, weight, and power (SWaP) constraints, most modern MAVs use miniaturized inertial measurement units (IMUs) to provide attitude feedback, which is critical for flight stabilization and…
As a rapidly growing cyber-physical platform, unmanned aerial vehicles are facing more security threats as their capabilities and applications continue to expand. Adversaries with detailed knowledge about the vehicle could orchestrate sophisticated attacks that are not easily detected or handled by…