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Distributed sensing by cooperative drone swarms is crucial for several Smart City applications, such as traffic monitoring and disaster response. Using an indoor lab with inexpensive drones, a testbed supports complex and ambitious studies…

Active multi-target tracking requires a mobile robot to balance exploration for undetected targets with exploitation of uncertain tracked ones. Diffusion policies have emerged as a powerful approach for capturing diverse behavioral…

Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…

Neural-network-based dynamics models learned from observational data have shown strong predictive capabilities for scene dynamics in robotic manipulation tasks. However, their inherent non-linearity presents significant challenges for…

Accurate trajectory prediction is vital for autonomous driving, robotics, and intelligent decision-making systems, yet traditional models typically rely on fixed-length output predictions, limiting their adaptability to dynamic real-world…

This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…

Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…

With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…

Visual tracking has yielded promising applications with unmanned aerial vehicle (UAV). In literature, the advanced discriminative correlation filter (DCF) type trackers generally distinguish the foreground from the background with a learned…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

Air-to-air tracking of swarm UAVs presents significant challenges due to the complex nonlinear group motion and weak visual cues for small objects, which often cause detection failures, trajectory fragmentation, and identity switches.…

Autonomous navigation of UAV swarms in perceptually-degraded environments, where GPS is unavailable and terrain is densely cluttered, presents a critical bottleneck for real-world deployment. Existing optimization-based planners lack the…

Predicting student performance is key in leveraging effective pre-failure interventions for at-risk students. As educational data grows larger, more effective means of analyzing student data in a timely manner are needed in order to provide…

UAV swarms are widely used in emergency communications, area monitoring, and disaster relief. Coordinated by control centers, they are ideal for federated learning (FL) frameworks. However, current UAV-assisted FL methods primarily focus on…

Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…

Large-scale Unmanned Aerial Vehicle (UAV) failures can split an unmanned aerial vehicle swarm network into disconnected sub-networks, making decentralized recovery both urgent and difficult. Centralized recovery methods depend on global…

Collision avoidance capability is an essential component in an autonomous vessel navigation system. To this end, an accurate prediction of dynamic obstacle trajectories is vital. Traditional approaches to trajectory prediction face…

We investigate training machine learning (ML) models across a set of geo-distributed, resource-constrained clusters of devices through unmanned aerial vehicles (UAV) swarms. The presence of time-varying data heterogeneity and computational…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

Unmanned Aerial Vehicle (UAV) swarms are increasingly deployed in dynamic, data-rich environments for applications such as environmental monitoring and surveillance. These scenarios demand efficient data processing while maintaining privacy…