Related papers: A Cooperative Dynamic Task Assignment Framework fo…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
MAPF is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop planners, which generate fixed trajectories and struggle to handle disturbances, or…
Function offloading is a promising solution to address limitations concerning computational capacity and available energy of Connected Automated Vehicles~(CAVs) or other autonomous robots by distributing computational tasks between local…
In this paper, we study a cooperative aerial-ground robotic team and its application to the task of automated construction. We propose a solution for planning and coordinating the mission of constructing a wall with a predefined structure…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…
Swarms evolving from collective behaviors among multiple individuals are commonly seen in nature, which enables biological systems to exhibit more efficient and robust collaboration. Creating similar swarm intelligence in engineered robots…
In disaster scenarios and high-stakes rescue operations, integrating Unmanned Aerial Vehicles (UAVs) as fog nodes has become crucial. This integration ensures a smooth connection between affected populations and essential health monitoring…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
Wildland fire fighting is a very dangerous job, and the lack of information of the fire front is one of main reasons that causes many accidents. Using unmanned aerial vehicle (UAV) to cover wildfire is promising because it can replace human…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
Unmanned aerial vehicles (UAVs) have the potential to establish flexible and reliable emergency networks in disaster sites when terrestrial communication infrastructures go down. Nevertheless, potential security threats may occur on UAVs…
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…
Artificial Water Bodies (AWBs) are human-made and require continuous monitoring due to their artificial biological processes. These systems necessitate regular maintenance to manage their ecosystems effectively. Unmanned Surface Vehicle…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
Docking control of an autonomous underwater vehicle (AUV) is a task that is integral to achieving persistent long term autonomy. This work explores the application of state-of-the-art model-free deep reinforcement learning (DRL) approaches…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Fog computing is an emerging distributed computing model for the Internet of Things (IoT). It extends computing and caching functions to the edge of wireless networks. Uncrewed Aerial Vehicles (UAVs) provide adequate support for fog…
Cognitive aerial-terrestrial networks (CATNs) offer a solution to spectrum scarcity by sharing spectrum between aerial and terrestrial networks. However, aerial users (AUs) experience significant interference from numerous terrestrial base…