Related papers: Risk-Aware Trajectory Optimization and Control for…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…

A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

This paper aims to enhance the physical layer security against potential internal eavesdroppings by exploiting the maneuverability of an unmanned aerial vehicle (UAV). We consider a scenario where two receivers with different security…

We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has stochastic nonlinear dynamics and uncertain initial…

Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…

In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…

Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…

In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…

This article introduces a five-tiered route planner for accessing multiple nodes with multiple autonomous underwater vehicles (AUVs) that enables efficient task completion in stochastic ocean environments. First, the pre-planning tier…

This paper addresses novel applications to practical modeling of the newly developed theory of necessary optimality conditions in controlled sweeping/Moreau processes with free time and pointwise control and state constraints. Problems of…

In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external…

All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…

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…

Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…

Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…

Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…

Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…

With the ease of deployment, capabilities of evading the jammers and obscuring their existence, unmanned aerial vehicles (UAVs) are one of the most suitable candidates to perform surveillance. There exists a body of literature in which the…