Related papers: Route planning of mobile sensing fleets for repeat…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
Automotive radar is a key component of sensing suites in autonomous driving (AD) and advanced driver-assist systems (ADAS). However, limited line-of-sight (LOS) significantly reduces radar efficiency in dense urban environments. Therefore,…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…
This paper reports experimental results on self-organizing wireless networks carried by small flying robots. Flying ad hoc networks (FANETs) composed of small unmanned aerial vehicles (UAVs) are flexible, inexpensive and fast to deploy.…
This paper introduces the correlated arc orienteering problem (CAOP), where the task is to find routes for a team of robots to maximize the collection of rewards associated with features in the environment. These features can be…
In this paper, we present the first constant-approximation algorithm for {\em budgeted sweep coverage problem} (BSC). The BSC involves designing routes for a number of mobile sensors (a.k.a. robots) to periodically collect information as…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
Path planning for a nonholonomic mobile robot is a challenging problem. This paper proposes a novel space adaptive search (SAS) approach that greatly reduces the computation cost of nonholonomic mobile robot path planning. The classic…
Visual Teach and Repeat has shown relative navigation is a robust and efficient solution for autonomous vision-based path following in difficult environments. Adding additional absolute sensors such as Global Navigation Satellite Systems…
Variable neighborhood search (VNS) is a metaheuristic for solving optimization problems based on a simple principle: systematic changes of neighborhoods within the search, both in the descent to local minima and in the escape from the…
Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
We investigate the problem of reconfigurable intelligent surface (RIS)-aided monostatic sensing of a mobile target under line-of-sight (LoS) blockage considering a single antenna, full-duplex, and dual-functional radar-communications base…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
Trip planning for intelligent vehicles increasingly requires selecting optimal routes rather than merely producing feasible itineraries, as interacting factors such as travel time, energy consumption, and traffic conditions directly affect…
Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance…
Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be…
Autonomous exploration and object search in unknown indoor environments remain challenging for multi-robot systems (MRS). Traditional approaches often rely on greedy frontier assignment strategies with limited inter-robot coordination. In…
This work presents non-orthogonal multiple access (NOMA) enabled energy-efficient alternating optimization framework for backscatter aided wireless powered uplink sensors communications for beyond 5G intelligent transportation system (ITS).…