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Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
This paper explores the Opportunistic Routing Protocols in the context of remote sea emergency scenarios, using the MH370 plane crash as a case study (OppNetMH370). We studied the likelihood of successful transmissions of emergency messages…
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the…
Accurate traffic prediction is vital for effective traffic management during hurricane evacuation. This paper proposes a predictive modeling system that integrates Multilayer Perceptron (MLP) and Long-Short Term Memory (LSTM) models to…
Ship roll motion in high sea states has large amplitudes and nonlinear dynamics, and its prediction is significant for operability, safety, and survivability. This paper presents a novel data-driven methodology to provide a multi-step…
Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a model predictive control (MPC) scheme that formulates the…
In autonomous mobility-on-demand systems, effectively managing vehicle flows to mitigate induced congestion and ensure efficient operations is imperative for system performance and positive customer experience. Against this background, we…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Nowadays, improving the energy efficiency of high-performance computing (HPC) systems is one of the main drivers in scientific and technological research. As large-scale HPC systems require some fault-tolerant method, the opportunities to…
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Experimental measurements on commercial adaptive cruise control (ACC) vehicles \RoundTwo{are} becoming increasingly available from around the world, providing an unprecedented opportunity to study the traffic flow characteristics that arise…
The maritime industry's continuous commitment to sustainability has led to a dedicated exploration of methods to reduce vessel fuel consumption. This paper undertakes this challenge through a machine learning approach, leveraging a…
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…
This paper studies coordinated trajectory planning and tracking control for multiple unmanned surface vessels (USVs) under strict privacy requirements. To avoid the privacy risks associated with direct position sharing in conventional…