Related papers: Elevated LiDAR Placement under Energy and Throughp…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps…
In this study, we present a novel hybrid algorithm, combining Levy Flight (LF) and Particle Swarm Optimization (PSO) (LF-PSO), tailored for efficient multi-robot exploration in unknown environments with limited communication and no global…
In the past decade, Unmanned Aerial Vehicles (UAVs) have grabbed the attention of researchers in academia and industry for their potential use in critical emergency applications, such as providing wireless services to ground users and…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
This paper proposes a three-dimensional (3D) geometry-based channel model to accurately represent intelligent reflecting surfaces (IRS)-enhanced integrated sensing and communication (ISAC) networks using rate-splitting multiple access…
Unmanned aerial vehicles (UAVs) are being utilized for a wide spectrum of applications in wireless networks leading to attractive business opportunities. In the case of abrupt disruption to existing cellular network operation or…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Particle Swarm Optimization (PSO) has demonstrated efficacy in addressing static path planning problems. Nevertheless, such application on dynamic scenarios has been severely precluded by PSO's low computational efficiency and premature…
To improve the driving mobility and energy efficiency of connected autonomous electrified vehicles, this paper presents an integrated longitudinal speed decision-making and energy efficiency control strategy. The proposed approach is a…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…
Industrial Internet of Things (IIoT) applications demand efficient task offloading to handle heavy data loads with minimal latency. Mobile Edge Computing (MEC) brings computation closer to devices to reduce latency and server load, optimal…
This paper presents a new algorithm named spherical vector-based particle swarm optimization (SPSO) to deal with the problem of path planning for unmanned aerial vehicles (UAVs) in complicated environments subjected to multiple threats. A…
Search and Rescue (SAR) missions in harsh and unstructured Sub-Terranean (Sub-T) environments in the presence of aerosol particles have recently become the main focus in the field of robotics. Aerosol particles such as smoke and dust…
Existing traffic engineering (TE) solutions performs well for software defined network (SDN) in average cases. However, during peak hours, bursty traffic spikes are challenging to handle, because it is difficult to react in time and…
The growing demand for electric vehicle (EV) charging infrastructure presents significant planning challenges, requiring efficient strategies for investment and operation to deliver cost-effective charging services. However, the potential…
Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…
This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…
Software Defined Vehicles face an increasing computational gap as advanced algorithms and frequent software updates demand more processing power while onboard hardware remains static throughout a vehicle's 10+ year lifespan. This mismatch…
This paper addresses the problem of finding the optimal Eco-Driving (ED) speed profile of an electric Connected and Automated Vehicle (CAV) in an isolated urban un-signalized intersection. The problem is formulated as a single-level…
This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…