Related papers: Wake-Informed 3D Path Planning for Autonomous Unde…
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…
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
In modern networking research, infrastructure-assisted unmanned autonomous vehicles (UAVs) are actively considered for real-time learning-based surveillance and aerial data-delivery under unexpected 3D free mobility and coordination. In…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
Promoting the levels of autonomy facilitates the vehicle in performing long-range operations with minimum supervision. The capability of Autonomous Underwater Vehicles (AUVs) to fulfill the mission objectives is directly influenced by route…
This article establishes the novel D$^*_+$, a risk-aware and platform-agnostic heterogeneous global path planner for robotic navigation in complex environments. The proposed planner addresses a fundamental bottleneck of occupancy-based path…
Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…
The ability to adapt to changing environments is crucial for the autonomous navigation systems of Unmanned Aerial Vehicles (UAVs). However, existing navigation systems adopt fixed execution configurations without considering environmental…
This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in underwater environments. Departing from traditional RL…
Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…
For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…
Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to-end learning-based policies often struggle with 3D spatial…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
In this paper, an interference-aware path planning scheme for a network of cellular-connected unmanned aerial vehicles (UAVs) is proposed. In particular, each UAV aims at achieving a tradeoff between maximizing energy efficiency and…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
Fixed-wing small uncrewed aerial vehicles (sUAVs) possess the capability to remain airborne for extended durations and traverse vast distances. However, their operation is susceptible to wind conditions, particularly in regions of complex…
A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…