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A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…
This study introduces a groundbreaking approach for real-time 3D localization, specifically focusing on achieving seamless and precise localization during an AUV's terminal guidance phase as it approaches an omnidirectional docking…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal…
Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimizing the quantization design of the communications between…
Many underwater tasks, such as cable-and-wreckage inspection and search-and-rescue, can benefit from robust Human-Robot Interaction (HRI) capabilities. With the recent advancements in vision-based underwater HRI methods, Autonomous…
Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Research on vessel automation and autonomy is currently being conducted by various countries and institutions. Safe and accurate ship control algorithms are crucial to realize automated operation. Actuator drive constraints of a target ship…
Stop-and-go traffic waves are known for reducing the efficiency of transportation systems by increasing traffic oscillations and energy consumption. In this study, we develop an approach to synthesize a class of additive feedback…
The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…
In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…
Prior correlation filter (CF)-based tracking methods for unmanned aerial vehicles (UAVs) have virtually focused on tracking in the daytime. However, when the night falls, the trackers will encounter more harsh scenes, which can easily lead…
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…
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…
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…
In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
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…
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable…