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As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital…
Unmanned aerial vehicles (UAVs) can be critical for time-sensitive data collection missions, yet existing research often relies on simulations that fail to capture real-world complexities. Many studies assume ideal wireless conditions or…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Task scheduling problem in heterogeneous systems is the process of allocating tasks of an application to heterogeneous processors interconnected by high-speed networks, so that minimizing the finishing time of application as much as…
Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…
Limiting flight delays during operations has become a critical research topic in recent years due to their prohibitive impact on airlines, airports, and passengers. A popular strategy for addressing this problem considers the uncertainty of…
With the burgeoning demand for data-intensive services, satellite-terrestrial networks (STNs) face increasing backhaul link congestion, deteriorating user quality of service (QoS), and escalating power consumption. Cache-aided STNs are…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…
Cloud contamination significantly impairs the usability of optical satellite imagery, affecting critical applications such as environmental monitoring, disaster response, and land-use analysis. This research presents a Cloud-Attentive…
Target coverage problem in wireless sensor networks is concerned with maximizing the lifetime of the network while continuously monitoring a set of targets. A sensor covers targets which are within the sensing range. For a set of sensors…
Cloud computing is a concept introduced in the information technology era, with the main components being the grid, distributed, and valuable computing. The cloud is being developed continuously and, naturally, comes up with many…
One-shot prediction enables rapid adaptation of pretrained foundation models to new tasks using only one labeled example, but lacks principled uncertainty quantification. While conformal prediction provides finite-sample coverage…
In this paper, we propose a sample-based moving horizon estimation (MHE) scheme for general nonlinear systems to estimate the current system state using irregularly and/or infrequently available measurements. The cost function of the MHE…
This paper presents a novel dense optical-flow algorithm to solve the monocular simultaneous localization and mapping (SLAM) problem for ground or aerial robots. Dense optical flow can effectively provide the ego-motion of the vehicle while…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…
In the face of pressing environmental issues in the 21st century, monitoring surface changes on Earth is more important than ever. Large-scale remote sensing, such as satellite imagery, is an important tool for this task. However, using…
Most mobile robots follow a modular sense-planact system architecture that can lead to poor performance or even catastrophic failure for visual inertial navigation systems due to trajectories devoid of feature matches. Planning in belief…
We propose a simulated annealing algorithm specifically tailored to optimise total retrieval times in a multi-level warehouse under complex pre-batched picking constraints. Experiments on real data from a picker-to-parts order picking…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…