Related papers: A distributed motion planning approach to cooperat…
Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…
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…
The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource…
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…
Underwater target tracking technology plays a pivotal role in marine resource exploration, environmental monitoring, and national defense security. Given that acoustic waves represent an effective medium for long-distance transmission in…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
Collaborative underwater target hunting, facilitated by multiple autonomous underwater vehicles (AUVs), plays a significant role in various domains, especially military missions. Existing research predominantly focuses on designing…
Driven by the unceasing development of maritime services, tasks of unmanned aerial vehicle (UAV)-assisted maritime data collection (MDC) are becoming increasingly diverse, complex and personalized. As a result, effective task allocation for…
This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…
In this paper, we study the underwater acoustic localization in the presence of environmental mismatch. Especially, we exploit a pre-trained neural network for the acoustic wave propagation in a gradient-based optimization framework to…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To…
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
This paper introduces a comprehensive strategy that integrates traffic perimeter control with traffic signal control to alleviate congestion in an urban traffic network (UTN). The strategy is formulated as a lexicographic multi-objective…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…