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In time-sensitive and dynamic missions, multi-UAV teams must respond quickly to new information and objectives. This paper presents a dynamic decentralized task allocation algorithm for allocating new tasks that appear online during the…
The growing demand for drone navigation in urban and restricted airspaces requires real-time path planning that is both safe and scalable. Classical methods often struggle with the computational load of high-dimensional optimization under…
Physics simulations like computational fluid dynamics (CFD) are a computational bottleneck in computer-aided design (CAD) optimization processes. To overcome this bottleneck, one requires either an optimization framework that is highly…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this…
Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal…
This paper addresses the challenge of energy-constrained maritime monitoring networks by proposing an unmanned aerial vehicle (UAV)-enabled integrated sensing, communication, powering and backhaul transmission scheme with a tailored…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
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…
Convolutional Neural Networks (CNNs) are pivotal in computer vision and Big Data analytics but demand significant computational resources when trained on large-scale datasets. Conventional training via back-propagation (BP) with losses like…
We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier…
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…
This study presents a bio inspired signal processing framework for robust Underwater Acoustic Target Recognition (UATR). The latest state of the art methods often fail to resolve dense low frequency harmonic structures in vessel propulsion…
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…
Task and Motion Planning (TAMP) algorithms solve long-horizon robotics tasks by integrating task planning with motion planning; the task planner proposes a sequence of actions towards a goal state and the motion planner verifies whether…
This paper presents a solution to Autonomous Underwater Vehicles (AUVs) large scale route planning and task assignment joint problem. Given a set of constraints (e.g., time) and a set of task priority values, the goal is to find the optimal…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks. In this paper, we aim to find collision-free paths for multiple cellular-connected UAVs, while satisfying requirements of connectivity with ground…
We address the path planning problem for a cellular-enabled unmanned aerial vehicle (UAV) considering both connectivity and battery constraints. The UAV's mission is to expeditiously transport a payload from an initial point to a final…
To address the ever-growing connectivity demands of wireless communications, the adoption of ingenious solutions, such as Unmanned Aerial Vehicles (UAVs) as mobile Base Stations (BSs), is imperative. In general, the location of a UAV Base…