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Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…

Robot task planning is an important problem for autonomous robots in long-horizon challenging tasks. As large pre-trained models have demonstrated superior planning ability, recent research investigates utilizing large models to achieve…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…

Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…

We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…

This paper investigates underwater cooperative target detection using autonomous underwater vehicles (AUVs), with a focus on the critical trade-off between cooperation efficiency and communication covertness. To tackle this challenge, we…

In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex…

In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a…

For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…

We present novel upper and lower bounds to estimate the collision probability of motion plans for autonomous agents with discrete-time linear Gaussian dynamics. Motion plans generated by planning algorithms cannot be perfectly executed by…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…

Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…

Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…

Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimizing the quantization design of the communications between…