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Existing methods for multi-agent navigation typically assume fully known environments, offering limited support for partially known scenarios with outdated or imperfect prior maps, such as warehouses or factory floors. There, agents need to…
The increasing level of sound pollution in marine environments poses an increased threat to ocean health, making it crucial to monitor underwater noise. By monitoring this noise, the sources responsible for this pollution can be mapped.…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
In this paper, we investigate robust resource allocation algorithm design for multiuser downlink multiple-input single-output (MISO) unmanned aerial vehicle (UAV) communication systems, where we account for the various uncertainties that…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
A cost effective approach to remote monitoring of protected areas such as marine reserves and restricted naval waters is to use passive sonar to detect, classify, localize, and track marine vessel activity (including small boats and…
Bayesian optimization (BO) is a sample-efficient approach for tuning design parameters to optimize expensive-to-evaluate, black-box performance metrics. In many manufacturing processes, the design parameters are subject to random input…
In this paper, an intelligent reflecting surface (IRS) is introduced to assist an unmanned aerial vehicle (UAV) communication system based on non-orthogonal multiple access (NOMA) for serving multiple ground users. We aim to minimize the…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating from the intended path for an indefinite…
Structural vibrations are a source of unwanted noise in engineering systems like cars, trains or airplanes. Minimizing these vibrations is crucial for improving passenger comfort. This work presents a novel design optimization approach…
In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…
Efficient path planning for unmanned aerial vehicles (UAVs) is crucial in remote sensing and information collection. As task scales expand, the cooperative deployment of multiple UAVs significantly improves information collection…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
This work considers the orthogonal frequency division multiple access (OFDMA) technology that enables multiple unmanned aerial vehicles (multi-UAV) communication systems to provide on-demand services. The main aim of this work is to derive…
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…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
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…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
This paper describes a reflexive multilayered mission planner with a mounted energy efficient local path planner for Unmanned Underwater Vehicle's (UUV) navigation throughout the complex subsea volume in a time-variant semi-dynamic…
This paper introduces the deployment of unmanned aerial vehicles (UAVs) as lightweight wireless access points that leverage the fixed infrastructure in the context of the emerging open radio access network (O-RAN). More precisely, we…