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Existing multi-agent coordination techniques are often fragile and vulnerable to anomalies such as agent attrition and communication disturbances, which are quite common in the real-world deployment of systems like field robotics. To better…

Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…

Unmanned autonomous vehicles (UAVs) rely on effective path planning and tracking control to accomplish complex tasks in various domains. Reinforcement Learning (RL) methods are becoming increasingly popular in control applications, as they…

This paper proposes a novel centralized training and distributed execution (CTDE)-based multi-agent deep reinforcement learning (MADRL) method for multiple unmanned aerial vehicles (UAVs) control in autonomous mobile access applications.…

Reinforcement learning (RL) has achieved outstanding success in complex robot control tasks, such as drone racing, where the RL agents have outperformed human champions in a known racing track. However, these agents fail in unseen track…

Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e.…

This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…

As spatial intelligence continues to evolve, heterogeneous multi-agent systems-particularly the collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), have demonstrated strong potential in complex…

Taking advantage of both vehicle-to-everything (V2X) communication and automated driving technology, connected and automated vehicles are quickly becoming one of the transformative solutions to many transportation problems. However, in a…

Autonomous unmanned aerial vehicle (UAV) swarm networks (UAVSNs) can effectively execute surveillance, connectivity, and computing services to ground users (GUs). These missions require trajectory planning, UAV-GUs association, task…

Deep Reinforcement Learning (DRL) is a subfield of machine learning for training autonomous agents that take sequential actions across complex environments. Despite its significant performance in well-known environments, it remains…

Unmanned aerial base stations (UABSs) can be deployed in vehicular wireless networks to support applications such as extended sensing via vehicle-to-everything (V2X) services. A key problem in such systems is designing algorithms that can…

Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of…

In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…

Mobile crowdsensing is evolving beyond traditional human-centric models by integrating heterogeneous entities like unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Optimizing task allocation among these diverse agents is…

In this work, we first describe a framework for the application of Reinforcement Learning (RL) control to a radar system that operates in a congested spectral setting. We then compare the utility of several RL algorithms through a…

In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…

It is expected that autonomous vehicles(AVs) and heterogeneous human-driven vehicles(HVs) will coexist on the same road. The safety and reliability of AVs will depend on their social awareness and their ability to engage in complex social…