Related papers: Adaptive AUV Hunting Policy with Covert Communicat…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…
Multi-agent pathfinding (MAPF) is a widely used abstraction for multi-robot trajectory planning problems, where multiple homogeneous agents move simultaneously within a shared environment. Although solving MAPF optimally is NP-hard,…
Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…
Unmanned aerial vehicles (UAVs) have played an increasingly important role in military operations and social life. Among all application scenarios, multi-target tracking tasks accomplished by UAV swarms have received extensive attention.…
Trading off performance guarantees in favor of scalability, the Multi-Agent Path Finding (MAPF) community has recently started to embrace Multi-Agent Reinforcement Learning (MARL), where agents learn to collaboratively generate individual,…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
Cooperative multi-agent reinforcement learning (MARL) for navigation enables agents to cooperate to achieve their navigation goals. Using emergent communication, agents learn a communication protocol to coordinate and share information that…
In critical situations such as natural disasters, network outages, battlefield communication, or large-scale public events, Unmanned Aerial Vehicles (UAVs) offer a promising approach to maximize wireless coverage for affected users in the…
We propose a robust gesture-based communication pipeline for divers to instruct an Autonomous Underwater Vehicle (AUV) to assist them in performing high-risk tasks and helping in case of emergency. A gesture communication language (CADDIAN)…
Navigation in cluttered underwater environments is challenging, especially when there are constraints on communication and self-localisation. Part of the fully distributed underwater navigation problem has been resolved by introducing…
For autonomous aerial vehicle (AAV) secure communications, traditional designs based on fixed position antenna (FPA) lack sufficient spatial degrees of freedom (DoF), which leaves the line-of-sight-dominated AAV links vulnerable to…
Low-altitude wireless networks (LAWNs) represent a promising architecture that integrates unmanned aerial vehicles (UAVs) as aerial nodes to provide enhanced coverage, reliability, and throughput for diverse applications. However, these…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
In recent advancements in Multi-agent Reinforcement Learning (MARL), its application has extended to various safety-critical scenarios. However, most methods focus on online learning, which presents substantial risks when deployed in…
Cooperative path planning for heterogeneous UAV swarms poses significant challenges for Multi-Agent Reinforcement Learning (MARL), particularly in handling asymmetric inter-agent dependencies and addressing the risks of sparse rewards and…
Multi-agent reinforcement learning (MARL) problems are challenging due to information asymmetry. To overcome this challenge, existing methods often require high level of coordination or communication between the agents. We consider…
Unmanned Combat Aerial Vehicle (UCAV) Within-Visual-Range (WVR) engagement, referring to a fight between two or more UCAVs at close quarters, plays a decisive role on the aerial battlefields. With the development of artificial intelligence,…
Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…
In this work, we study an unmanned aerial vehicle (UAV)-enabled secure integrated sensing and communication (ISAC) system, where a UAV serves as an aerial base station (BS) to simultaneously perform communication with a user and detect a…
The capability of UAVs for efficient autonomous navigation and obstacle avoidance in complex and unknown environments is critical for applications in agricultural irrigation, disaster relief and logistics. In this paper, we propose the DPRL…