Related papers: Improving the Modularity of AUV Control Systems us…

This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance…

In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…

In this work, we present the SeaShark AUV: a modular, easily configurable, one-man portable micro-AUV. The SeaShark AUV is conceived as modular parts that fit around a central main tube, which holds battery and other vital parts. The head…

Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…

Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…

Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…

This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…

Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

Many complex engineering systems consist of multiple subsystems that are developed by different teams of engineers. To analyse, simulate and control such complex systems, accurate yet computationally efficient models are required. Modular…

As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…

In this letter we show how to improve the performance of backward chained behavior trees (BTs) that use reinforcement learning (RL). BTs represent a hierarchical and modular way of combining control policies into higher level control…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

Every aspect of our life depends on the ability to communicate effectively. Organizations that manage to establish communication routines, protocols and means thrive. An Aerial Traffic Management System operates similarly as an organization…

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

Unmanned Aerial Vehicles (UAVS) are limited by the onboard energy. Refinement of the navigation strategy directly affects both the flight velocity and the trajectory based on the adjustment of key parameters in the UAVS pipeline, thus…