Related papers: Efficient Control Allocation and 3D Trajectory Tra…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
Autonomous Delivery Vehicles (ADVs) are increasingly used for transporting goods in 5G network-enabled smart factories, with the compute-intensive localization module presenting a significant opportunity for optimization. We propose…
In this paper, the problem of using one active unmanned aerial vehicle (UAV) and four passive UAVs to localize a 3D target UAV in real time is investigated. In the considered model, each passive UAV receives reflection signals from the…
Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…
This paper investigates underwater cooperative target detection using autonomous underwater vehicles (AUVs), with a focus on the critical trade-off between cooperation efficiency and communication covertness. To tackle this challenge, we…
The advent of intelligent vehicles that can communicate with infrastructure as well as automate the movement provides a range of new options to address key urban traffic issues such as congestion and pollution, without the need for…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
Unmanned Aerial Vehicles (UAVs) have significantly enhanced fog computing by acting as both flexible computation platforms and communication mobile relays. In this paper, we consider four important and interdependent modules: attitude…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
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…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
The research presents an automated method for determining the trajectory of an unmanned aerial vehicle (UAV) for wind turbine inspection. The proposed method enables efficient data collection from multiple wind installations using UAV…