{"689946":{"#nid":"689946","#data":{"type":"event","title":"PhD Proposal by Evanns G. Morales-Cuadrado","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003EComputationally Efficient and Safe Control for Aerial Robotic Systems under Threat and Disturbance\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate: \u003C\/strong\u003ETuesday, May 5th, 2026\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime: \u003C\/strong\u003E10:00 AM\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation: \u003C\/strong\u003ETSRB 423\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EVirtual Link:\u0026nbsp;\u003C\/strong\u003E\u003Ca href=\u0022https:\/\/teams.microsoft.com\/meet\/277536990612040?p=To1pMC8JMAJuDVMn4S\u0022\u003Ehttps:\/\/teams.microsoft.com\/meet\/277536990612040?p=To1pMC8JMAJuDVMn4S\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EEvanns G. Morales-Cuadrado\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics PhD Student\u003C\/p\u003E\u003Cp\u003ESchool of Electrical and Computer Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Samuel Coogan (Advisor) - School of Electrical and Computer Engineering \u0026amp; School of Civil and Environmental Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Shreyas Kousik - School of Mechanical Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Kyriakos Vamvoudakis\u0026nbsp;- School of Aerospace Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Yorai Wardi - School of Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Saman Zonouz- School of Cybersecurity and Privacy\u0026nbsp; \u0026amp; Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EWe propose a comprehensive program for safe autonomy in robotic systems, with a particular focus on aerial platforms. This program is organized across three complementary layers: secure high-level control, safe trajectory planning under uncertainty, and computationally efficient low-level tracking. Preliminary work establishes a lightweight Newton\u2013Raphson-flow tracking controller with demonstrated alpha-stability on a miniature blimp, achieving competitive performance against PX4, feedback linearization, and nonlinear model predictive control across quadrotor and lighter-than-air platforms. A second line of work develops RTD-RAX, a reachability-based trajectory design and runtime assurance framework that combines offline parameterized reachable sets for rapid candidate generation with online mixed-monotone reachability verification and trajectory repair, enabling safe planning under bounded disturbances while avoiding conservative planning. Building on this foundation, the proposed work extends RTD-RAX to learned Gaussian process disturbance models, transitions prior numerical ground-vehicle results to hardware, and proposes extensions to aerial platforms with hardware validation. We also propose improved trajectory repair strategies, and extending RTD-RAX from reach-avoid missions to more complex STL missions by learning which control parameters map onto given STL specifications. We further propose a standalone learning-accelerated signal temporal logic framework that reduces reliance on repeated mixed-integer linear program solves while preserving safety guarantees. Additionally, this work proposes cyber-physical inoculation, in which fault signatures and certified backup controllers expand a resilient safe operating envelope against adversarial attacks. Together, these proposed contributions advance fast, efficient, and resilient autonomy for safety-critical cyber-physical systems.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EComputationally Efficient and Safe Control for Aerial Robotic Systems under Threat and Disturbance\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Computationally Efficient and Safe Control for Aerial Robotic Systems under Threat and Disturbance  "}],"uid":"27707","created_gmt":"2026-04-22 14:52:47","changed_gmt":"2026-04-22 14:53:24","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2026-05-05T10:00:00-04:00","event_time_end":"2026-05-05T12:00:00-04:00","event_time_end_last":"2026-05-05T12:00:00-04:00","gmt_time_start":"2026-05-05 14:00:00","gmt_time_end":"2026-05-05 16:00:00","gmt_time_end_last":"2026-05-05 16:00:00","rrule":null,"timezone":"America\/New_York"},"location":"TSRB 423","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}