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There are several challenges for search and rescue robots: mobility, perception, autonomy, and communication. Inspired by the DARPA Subterranean (SubT) Challenge, we propose an autonomous blimp robot, which has the advantages of low power…
A risk-averse preview-based $Q$-learning planner is presented for navigation of autonomous vehicles. To this end, the multi-lane road ahead of a vehicle is represented by a finite-state non-stationary Markov decision process (MDP). A risk…
Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or flight-only designs in terms of energy savings and increased mobility. In this work we outline our unified framework for controls, planning, and autonomy…
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…
In this paper, we developed a new navigation system, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential…
Unmanned Surface Vehicle (USV) is a new type of intelligent surface craft, and global path planning is the key technology of USV research, which can reflect the intelligent level of USV. In order to solve the problem of global path planning…
The "avoid - shift - improve" framework and the European Clean Vehicles Directive set the path for improving the efficiency and ultimately decarbonizing the transport sector. While electric buses have already been adopted in several cities,…
This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which cannot cover all possible scenarios that can take place in…
This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can…
This paper extends the gap-based navigation technique in Potential Gap by guaranteeing safety for nonholonomic robots for all tiers of the local planner hierarchy, so called Safer Gap. The first tier generates a Bezier-based collision-free…
Autonomous vessels potentially enhance safety and reliability of seaborne trade. To facilitate the development of autonomous vessels, high-fidelity simulations are required to model realistic interactions with other vessels. However,…
This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often…
We discuss a recently introduced ECO-driving concept known as SPONGE in the context of Plug-in Hybrid Electric Buses (PHEB)'s.Examples are given to illustrate the benefits of this approach to ECO-driving. Finally, distributed algorithms to…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and…
In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…