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Autonomous vehicles are the culmination of advances in many areas such as sensor technologies, artificial intelligence (AI), networking, and more. This paper will introduce the reader to the technologies that build autonomous vehicles. It…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
The oceans in the Earth's in one of the last border lines on the World, with only a fraction of their depths having been explored. Advancements in technology have led to the development of Autonomous Underwater Vehicles (AUVs) that can…
Given the uncertainty surrounding how existing explainability methods for autonomous vehicles (AVs) meet the diverse needs of stakeholders, a thorough investigation is imperative to determine the contexts requiring explanations and suitable…
This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…
Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Unmanned aerial vehicles (UAVs) are powerful Internet-of-Things components to provide sensing and communications in the air due to their advantages in mobility and flexibility. As aerial users, UAVs are envisioned to support various sensing…
With the growing demand for large-scale and high-quality data in edge intelligence systems, mobile robots are increasingly deployed to collect data proactively, particularly in complex environments. However, existing robot-assisted data…
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
Goal-oriented navigation presents a fundamental challenge for autonomous systems, requiring agents to navigate complex environments to reach designated targets. This survey offers a comprehensive analysis of multimodal navigation approaches…
This paper proposes a distributed Multi-Agent Reinforcement Learning (MARL) algorithm for a team of Unmanned Aerial Vehicles (UAVs). The proposed MARL algorithm allows UAVs to learn cooperatively to provide a full coverage of an unknown…
Advanced communication protocols are critical to enable the coexistence of autonomous robots with humans. Thus, the development of explanatory capabilities is an urgent first step toward autonomous robots. This survey provides an overview…
This work explores the application of nonlinear oscillators coupled by electric field in water for collective tasks in underwater robotics. Such coupled oscillators operate in clear and colloidal (mud, bottom silt) water and represent a…
Industrial Cyber-Physical Systems (ICPS) technologies are foundational in driving maritime autonomy, particularly for Unmanned Surface Vehicles (USVs). However, onboard computational constraints and communication latency significantly…
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…