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Deploying teams of unmanned aerial vehicles (UAVs) to harvest data from distributed Internet of Things (IoT) devices requires efficient trajectory planning and coordination algorithms. Multi-agent reinforcement learning (MARL) has emerged…

With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly…

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…

Movable antenna (MA) introduces a new degree of freedom for future wireless communication systems by enabling the adaptive adjustment of antenna positions. Its large-range movement renders wireless channels transmission into the near-field…

Reliable estimation of macro and micro traffic states is essential for urban traffic management. Unmanned Aerial Vehicles, with their airborne full-sample continuous trajectory observation, bring new opportunities for macro- and…

For additive actuator and sensor faults, we propose a systematic method to design a state-space fault estimation filter directly from Markov parameters identified from fault-free data. We address this problem by parameterizing a…

Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…

Hybrid cloud-edge infrastructures now support latency-critical workloads ranging from autonomous vehicles and surgical robotics to immersive AR/VR. However, they continue to experience crippling long-tail latency spikes whenever bursty…

This paper considers an integrated sensing and communication system, where some radar targets also serve as communication scatterers. A location domain channel modeling method is proposed based on the position of targets and scatterers in…

State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…

Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…

Unmanned Aerial Vehicles (UAVs) are getting closer to becoming ubiquitous in everyday life. Among them, Micro Aerial Vehicles (MAVs) have seen an outburst of attention recently, specifically in the area with a demand for autonomy. A key…

This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…

Micro Air Vehicles (MAVs) will unlock their true potential once they can operate in groups. To this end, it is essential for them to estimate on-board the relative location of their neighbors. The challenge lies in limiting the mass and…

This paper investigates the potential of movable antenna (MA)-enabled micro-mobility to replace UAV-enabled macro-mobility for enhancing physical layer security (PLS) in air-to-ground communications. While UAV trajectory optimization offers…

This work studies the application of Multi-Agent Reinforcement Learning (MARL) to decentralized control of unmanned aerial vehicles to relay a critical data package to a known position. For this purpose, a family of deterministic games is…

The capture of flying MAVs (micro aerial vehicles) has garnered increasing research attention due to its intriguing challenges and promising applications. Despite recent advancements, a key limitation of existing work is that capture…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

This article addresses online variational estimation in parametric state-space models. We propose a new procedure for efficiently computing the evidence lower bound and its gradient in a streaming-data setting, where observations arrive…

MIMO technology has enabled spatial multiple access and has provided a higher system spectral efficiency (SE). However, this technology has some drawbacks, such as the high number of RF chains that increases complexity in the system. One of…