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Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
With the increasing development of intelligent transportation systems and advancements in aviation technology, the concept of Advanced Air Mobility (AAM) is gaining attention. This study aims to improve operational safety and service…
With the emergence of compute-intensive and delay-sensitive applications in vehicular networks, unmanned aerial vehicles (UAVs) have emerged as a promising complement for vehicular edge computing due to the high mobility and flexible…
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
In recent years, tremendous progress has been made in understanding the dynamics of vehicle traffic flow and traffic congestion by interpreting traffic as a multi-particle system. This helps to explain the onset and persistence of many…
This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning…
This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…
With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Spatio-temporal traffic forecasting is a core component of intelligent transportation systems, supporting various downstream tasks such as signal control and network-level traffic management. In real-world deployments, forecasting models…
This study proposes an efficient data collection strategy exploiting a team of Unmanned Aerial Vehicles (UAVs) to monitor and collect the data of a large distributed sensor network usually used for environmental monitoring, meteorology,…
Out-of-training-distribution (OOD) scenarios are a common challenge of learning agents at deployment, typically leading to arbitrary deductions and poorly-informed decisions. In principle, detection of and adaptation to OOD scenes can…
By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant…
Mobile edge computing (MEC) is a promising technique to improve the computational capacity of smart devices (SDs) in Internet of Things (IoT). However, the performance of MEC is restricted due to its fixed location and limited service…
In this work, a delay-tolerant unmanned aerial vehicle (UAV) relayed covert and secure communication framework is investigated. In this framework, a legitimate UAV serves as an aerial relay to realize communication when the direct link…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…