Related papers: Constraint-Driven Multi-USV Coverage Path Generati…
This study proposes an efficient data collection strategy exploiting a team of Unmanned Aerial Vehicles (UAVs) to monitor and collect the data of a large distributed sensor network usually used for environmental monitoring, meteorology,…
This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…
A big challenge in environmental monitoring is the spatiotemporal variation of the phenomena to be observed. To enable persistent sensing and estimation in such a setting, it is beneficial to have a time-varying underlying environmental…
In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks. In this paper, we aim to find collision-free paths for multiple cellular-connected UAVs, while satisfying requirements of connectivity with ground…
Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption.…
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated…
We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a short communication range. This framework finds applications…
Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…
Manually monitoring water quality is very exhausting and requires several hours of sampling and laboratory testing for a particular body of water. This article presents a solution to test water properties like electrical conductivity and pH…
The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…
Unmanned Aerial Vehicles (UAVs), although adept at aerial surveillance, are often constrained by limited battery capacity. By refueling on slow-moving Unmanned Ground Vehicles (UGVs), their operational endurance can be significantly…
Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…
Simulation-based virtual testing has become an essential step to ensure the safety of autonomous driving systems. Testers need to handcraft the virtual driving scenes and configure various environmental settings like surrounding traffic,…
This study presents a control strategy for coordinating multiple unmanned aerial vehicles (UAVs) to monitor unknown flood regions and estimate the extent of inundation. The proposed method adopts a density-driven coverage framework based on…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…