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This research presents an online path planner for Unmanned Aerial Vehicles (UAVs) that can handle dynamic obstacles and UAV motion constraints, including maximum curvature and desired orientations. Our proposed planner uses a NURBS path…
Vision-based object tracking is an essential precursor to performing autonomous aerial navigation in order to avoid obstacles. Biologically inspired neuromorphic event cameras are emerging as a powerful alternative to frame-based cameras,…
Unmanned aerial vehicle (UAV)-assisted communication becomes a promising technique to realize the beyond fifth generation (5G) wireless networks, due to the high mobility and maneuverability of UAVs which can adapt to heterogeneous…
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…
Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…
This paper proposes a generalised propulsion energy consumption model (PECM) for rotary-wing ummanned aerial vehicles (UAVs) under the consideration of the practical thrust-to-weight ratio (TWR) with respect to the velocity, acceleration…
Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output via Bird's Eye View(BEV) segmentation as an interpretable…
On-board battery consumption, cellular disconnectivity, and frequent handoff are key challenges for unmanned aerial vehicle (UAV) based delivery missions, a.k.a., cargo-UAV. Indeed, with the introduction of UAV technology into cargo…
This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
This paper explores the problem of path planning under uncertainty. Specifically, we consider online receding horizon based planners that need to operate in a latent environment where the latent information can be modeled via Gaussian…
In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important…
In this paper, an interference-aware path planning scheme for a network of cellular-connected unmanned aerial vehicles (UAVs) is proposed. In particular, each UAV aims at achieving a tradeoff between maximizing energy efficiency and…
One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…
Most mobile robots follow a modular sense-planact system architecture that can lead to poor performance or even catastrophic failure for visual inertial navigation systems due to trajectories devoid of feature matches. Planning in belief…
This paper investigates the robust and secure task transmission and computation scheme in multi-antenna unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) networks, where the UAV is dual-function, i.e., aerial MEC and aerial…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…