Related papers: Coordinating Cooperative Perception in Urban Air M…
In intelligent low-altitude networks, integrating monitoring tasks into communication unmanned aerial vehicles (UAVs) can consume resources and increase handoff latency for communication links. To address this challenge, we propose a…
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic…
In this paper, we focus on a typical cooperative communication system with one pair of source and destination, where a unmanned aerial vehicle (UAV) flying from a start location to an end location serves as a mobile relay. To efficiently…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
Existing UAS Traffic Management (UTM) frameworks designate preplanned flight paths to uncrewed aircraft systems (UAS), enabling the UAS to deliver payloads. However, with increasing delivery demand between the source-destination pairs in…
Anomaly detection is a critical requirement for ensuring safety in autonomous driving. In this work, we leverage Cooperative Perception to share information across nearby vehicles, enabling more accurate identification and consensus of…
Integrated sensing and communication (ISAC) has attracted growing research interests to facilitate the large-scale development of the low-altitude economy (LAE). However, the high dynamics of low-altitude targets may overwhelm fixed ISAC…
A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…
A leader-follower system is developed for cooperative transportation. To the best of our knowledge, this is the first work that inter-UAV communication is not required and the reference trajectory of the payload can be modified in real…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
This paper studies the problem of safe humanuncrewed aerial system (UAS) collaboration in a shared work environment. By considering human and UAS as co-workers, we use Petri Nets to abstractly model evolution of shared tasks assigned to…
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…
Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…
This paper proposes a cooperative integrated sensing and communication (ISAC) scheme for the low-altitude sensing scenario, aiming at estimating the parameters of the unmanned aerial vehicles (UAVs) and enhancing the sensing performance via…
This paper investigates the semantic communication and cooperative tracking control for an UAV swarm comprising a leader UAV and a group of follower UAVs, all interconnected via unreliable wireless multiple-input-multiple-output (MIMO)…
The LiDAR-based multi-agent and single-agent perception has shown promising performance in environmental understanding for robots and automated vehicles. However, there is no existing method that simultaneously solves both multi-agent and…
In this paper, we construct an air-sea collaborative system framework based on the Integrated Sensing and Communication (ISAC) techniques, where the Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) jointly inspect targets of…
Aerial networks, composed of Unmanned Aerial Vehicles (UAVs) acting as Wi-Fi access points or cellular base stations, are emerging as an interesting solution to provide on-demand wireless connectivity to users, when there is no network…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…