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Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…
Visual perception in autonomous driving is a crucial part of a vehicle to navigate safely and sustainably in different traffic conditions. However, in bad weather such as heavy rain and haze, the performance of visual perception is greatly…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
In this paper, we propose an autonomous UAV path planning framework using deep reinforcement learning approach. The objective is to employ a self-trained UAV as a flying mobile unit to reach spatially distributed moving or static targets in…
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…
This paper presents UnderwaterVLA, a novel framework for autonomous underwater navigation that integrates multimodal foundation models with embodied intelligence systems. Underwater operations remain difficult due to hydrodynamic…
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
Unmanned aerial vehicles combined with computer vision systems, such as convolutional neural networks, offer a flexible and affordable solution for terrain monitoring, mapping, and detection tasks. However, a key challenge remains the…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves…
In this paper, we investigate resource allocation design for unmanned aerial vehicle (UAV)-enabled communication systems, where a UAV is dispatched to provide communications to multiple user nodes. Our objective is to maximize the…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Unmanned aerial vehicles (UAVs) can enhance the performance of cellular networks, due to their high mobility and efficient deployment. In this paper, we present a first study on how the user mobility affects the UAVs' trajectories of a…
The decreased size and cost of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has enabled the use of swarms of unmanned autonomous vehicles to accomplish a variety of tasks. By utilizing swarming behaviors, it is…
Enabling autonomous robots to safely and efficiently navigate, explore, and map underwater caves is of significant importance to water resource management, hydrogeology, archaeology, and marine robotics. In this work, we demonstrate the…
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous,…