Related papers: Safe Autonomy for Uncrewed Surface Vehicles Using …
It is recognized that the control of mixed-autonomy platoons comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) can enhance traffic flow. Among existing methods, Multi-Agent Reinforcement Learning (MARL)…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
We propose a model reference adaptive controller (MRAC) for uncertain linear time-invariant (LTI) plants with user-defined state and input constraints in the presence of unmatched bounded disturbances. Unlike popular optimization-based…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
Accurate water quality assessment requires spatially resolved sampling, yet most unmanned surface vehicles (USVs) can collect only a limited number of samples or rely on single-point sensors with poor representativeness. This work presents…
Unmanned Surface Vehicle (USV) is a new type of intelligent surface craft, and global path planning is the key technology of USV research, which can reflect the intelligent level of USV. In order to solve the problem of global path planning…
For the safe and successful navigation of autonomous vehicles in unstructured environments, the traversability of terrain should vary based on the driving capabilities of the vehicles. Actual driving experience can be utilized in a…
Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…
Autonomous Mobile Robots (AMRs) have become indispensable in industrial applications due to their operational flexibility and efficiency. Navigation serves as a crucial technical foundation for accomplishing complex tasks. However,…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
We propose a framework for planning in unknown dynamic environments with probabilistic safety guarantees using conformal prediction. Particularly, we design a model predictive controller (MPC) that uses i) trajectory predictions of the…
Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways have attracted increasing attention for their potential…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
We investigate the problem of safe control synthesis for systems operating in environments with uncontrollable agents whose dynamics are unknown but coupled with those of the controlled system. This scenario naturally arises in various…
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…
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…
Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive approach based on the Conditional Value-at-Risk Barrier…
Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…