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Energy efficiency is of critical importance to trajectory planning for UAV swarms in obstacle avoidance. In this paper, we present $E^2Coop$, a new scheme designed to avoid collisions for UAV swarms by tightly coupling Artificial Potential…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
This paper focuses on the continuous control of the unmanned aerial vehicle (UAV) based on a deep reinforcement learning method for a large-scale 3D complex environment. The purpose is to make the UAV reach any target point from a certain…
Heat Equation Driven Area Coverage (HEDAC) is a state-of-the-art multi-agent ergodic motion control guided by a gradient of a potential field. A finite element method is hereby implemented to obtain a solution of the Helmholtz partial…
We develop a cost functional and state-space equations to model the problem of herding m sheep to the origin using n dogs. Our initial approach uses solve_bvp to approximate optimal control trajectories. But this method often fails to…
Highway on-ramp merging is of great challenge for autonomous vehicles (AVs), since they have to proactively interact with surrounding vehicles to enter the main road safely within limited time. However, existing decision-making algorithms…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the critical challenge of autonomous collision…
Uncooperative unmanned aerial vehicles (UAVs) pose emerging threats to critical infrastructure and border protection by operating as rogue user equipment (UE) within cellular networks, consuming resources, creating interference, and…
Unmanned aerial vehicles (UAVs) have been recently utilized in multi-access edge computing (MEC) as edge servers. It is desirable to design UAVs' trajectories and user to UAV assignments to ensure satisfactory service to the users and…
Unmanned Aerial Vehicles (UAVs) have gained significant attention for improving wireless communication, especially in emergencies or as a complement to existing cellular infrastructure. This letter addresses the problem of efficiently…
In this paper, we propose a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing, communication, and computation network. Specifically, the treble-functional UAVs are capable of offering communication and edge computing services…
Rapid advancements in field robots have brought a new kind of cyber physical system (CPS)--unmanned robotic system--under the spotlight. In the upcoming sixth-generation (6G) era, these systems hold great potential to replace humans in…
Edge computing facilitates low-latency services at the network's edge by distributing computation, communication, and storage resources within the geographic proximity of mobile and Internet-of-Things (IoT) devices. The recent advancement…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
We consider the problem of detecting, isolating and classifying elephant calls in continuously recorded audio. Such automatic call characterisation can assist conservation efforts and inform environmental management strategies. In contrast…
Anthropogenic activity threatens biodiversity through climate change, habitat fragmentation, and increasing frequency and scale of disturbance. Various theoretical studies have sought to shed light on how these factors could promote or…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
This paper presents a UAV swarm system designed to assist first responders in disaster scenarios like wildfires. By distributing sensors across multiple agents, the system extends flight duration and enhances data availability, reducing the…
Recent advancements in computer vision have accelerated the development of autonomous driving. Despite these advancements, training machines to drive in a way that aligns with human expectations remains a significant challenge. Human…