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We introduce a latent 3D representation that models 3D surfaces as probability density functions in 3D, i.e., p(x,y,z), with flow-matching. Our representation is specifically designed for consumption by machine learning models, offering…
Accurately estimating aircraft fuel flow is essential for evaluating new procedures, designing next-generation aircraft, and monitoring the environmental impact of current aviation practices. This paper investigates the generalization…
Efficient traffic monitoring is playing a fundamental role in successfully tackling congestion in transportation networks. Congestion is strongly correlated with two measurable characteristics, the demand and the network density that impact…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
The severity of natural disasters is increasing every year, impacting many people's lives. During the response phase of disasters, airports are important hubs where relief aid arrives and people need to be evacuated. However, the airport…
A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where…
This paper investigates the three-dimensional (3D) deployment of uncrewed aerial vehicles (UAVs) as aerial base stations in heterogeneous communication networks under constraints imposed by diverse ground obstacles. Given the diverse data…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
Traffic conflict detection is essential for proactive road safety by identifying potential collisions before they occur. Existing methods rely on surrogate safety measures tailored to specific interactions (e.g., car-following,…
Safety-critical traffic scenarios are integral to the development and validation of autonomous driving systems. These scenarios provide crucial insights into vehicle responses under high-risk conditions rarely encountered in real-world…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
Autonomous technology, which has become widespread today, appears in many different configurations such as mobile robots, manipulators, and drones. One of the most important tasks of these vehicles during autonomous operations is path…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for settings with real-time requirements but also provide provable…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…
Low-altitude urban flight planning for small Unmanned Aircraft Systems (UAS) requires accurate vehicle, environment maps, and risk models to assure flight plans consider the urban landscape as well as airspace constraints. This paper…
Traffic problems have seriously affected people's life quality and urban development, and forecasting the short-term traffic congestion is of great importance to both individuals and governments. However, understanding and modeling the…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…