Related papers: A Resilient Navigation and Path Planning System fo…
Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board…
In autonomous driving, the hybrid strategy of deep reinforcement learning and cooperative adaptive cruise control (CACC) can fully utilize the advantages of the two algorithms and significantly improve the performance of car following.…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
An integrated sensing and communication (ISAC) framework comprises radar sensing to enable reliable direction beam-based communication between a base station (BS) and mobile user (MU). The ISAC will be an integral part of 6G with potential…
In this paper, the problem of coordinated transportation of heavy payload by a team of UAVs in a cluttered environment is addressed. The payload is modeled as a rigid body and is assumed to track a pre-computed global flight trajectory from…
Drone racing is becoming a popular e-sport all over the world, and beating the best human drone race pilots has quickly become a new major challenge for artificial intelligence and robotics. In this paper, we propose a strategy for…
High-accuracy localization is a key enabler for integrated sensing and communication (ISAC), playing an essential role in various applications such as autonomous driving. Antenna arrays and reconfigurable intelligent surface (RIS) are…
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
Long-term inertial navigation is currently limited by the bias drifts of gyroscopes and accelerometers and ultra-stable cold-atom interferometers offer a promising alternative for the next generation of high-end navigation systems. Here, we…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems. However, there are significant challenges in real-time implementation, as…
Autonomous intersection management (AIM) poses significant challenges due to the intricate nature of real-world traffic scenarios and the need for a highly expensive centralised server in charge of simultaneously controlling all the…
Recently, unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC) is emerging as a promising technique for achieving robust and rapid emergency response capabilities. Such a novel framework offers high-quality and…
In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an underactuated…
Integrated positioning and communication (IPAC) system and reconfigurable intelligent surface (RIS) are both considered to be key technologies for future wireless networks. Therefore, in this paper, we propose a RIS-enabled IPAC scheme with…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
Navigation in the real-world is hard and filled with complex scenarios. The Benchmark Autonomous Robot Navigation (BARN) Challenge is a competition that focuses on highly constrained spaces. Teams compete using a standard platform in a…
The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…
In connected vehicular networks, it is vital to have vehicular nodes that are capable of sensing about surrounding environments and exchanging messages with each other for automating and coordinating purpose. Towards this end, integrated…