Enabling Safety for Aerial Robots: Planning and Control Architectures
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Online Access: | |
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| _version_ | 1866909575683244032 |
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| author | Naveed, Kaleb Ben Agrawal, Devansh R. Cherenson, Daniel M. Lee, Haejoon Gilbert, Alia Parwana, Hardik Chipade, Vishnu S. Bentz, William Panagou, Dimitra |
| author_facet | Naveed, Kaleb Ben Agrawal, Devansh R. Cherenson, Daniel M. Lee, Haejoon Gilbert, Alia Parwana, Hardik Chipade, Vishnu S. Bentz, William Panagou, Dimitra |
| contents | Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation under resource constraints, and robustness against adversarial attacks and uncertainties. In this paper, we present the authors' recent work that tackles some of these challenges and highlights key aspects that must be considered to enhance the safety and performance of autonomous aerial systems. All presented approaches are validated through hardware experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_08601 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Enabling Safety for Aerial Robots: Planning and Control Architectures Naveed, Kaleb Ben Agrawal, Devansh R. Cherenson, Daniel M. Lee, Haejoon Gilbert, Alia Parwana, Hardik Chipade, Vishnu S. Bentz, William Panagou, Dimitra Robotics Systems and Control Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation under resource constraints, and robustness against adversarial attacks and uncertainties. In this paper, we present the authors' recent work that tackles some of these challenges and highlights key aspects that must be considered to enhance the safety and performance of autonomous aerial systems. All presented approaches are validated through hardware experiments. |
| title | Enabling Safety for Aerial Robots: Planning and Control Architectures |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2504.08601 |