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Promoting the levels of autonomy facilitates the vehicle in performing long-range operations with minimum supervision. The capability of Autonomous Underwater Vehicles (AUVs) to fulfill the mission objectives is directly influenced by route…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
Smart Micro Aerial Vehicles (MAVs) have transformed infrastructure inspection by enabling efficient, high-resolution monitoring at various stages of construction, including hard-to-reach areas. Traditional manual operation of drones in…
The Mining industry considers the deployment of MAV for autonomous inspection of tunnels and shafts to increase safety and productivity. However, mines are challenging and harsh environments that have a direct effect on the degradation of…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Rapid progress in embedded computing hardware increasingly enables on-board image processing on small robots. This development opens the path to replacing costly sensors with sophisticated computer vision techniques. A case in point is the…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
It was recently demonstrated that two machine-learning architectures, reservoir computing and time-delayed feed-forward neural networks, can be exploited for detecting the Earth's anomaly magnetic field immersed in overwhelming complex…
Autonomous navigation in unstructured vegetated environments remains an open challenge. To successfully operate in these settings, ground vehicles must assess the traversability of the environment and determine which vegetation is pliable…
Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
In this paper, we explore the application of Unmanned Aerial Vehicles (UAVs) in maritime search and rescue (mSAR) missions, focusing on medium-sized fixed-wing drones and quadcopters. We address the challenges and limitations inherent in…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…