Related papers: REACT: Real-time Entanglement-Aware Coverage Path …
Autonomous Underwater Vehicles (AUVs) have advanced significantly in obstacle detection and path planning through sonar, cameras, and learning-based methods. However, safe and efficient navigation in cluttered environments remains…
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…
This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…
Tor is a widely used anonymity network that conceals user identities by routing traffic through encrypted relays, yet it remains vulnerable to traffic correlation attacks that deanonymize users by matching patterns in ingress and egress…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
This paper addresses the challenge of multi-agent path planning for efficient data collection in dynamic, uncertain environments, exemplified by autonomous underwater vehicles (AUVs) navigating the Gulf of Mexico. Traditional greedy…
This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
Integrated Sensing and Communication (ISAC), as a fundamental technology of 6G, empowers Vehicle-to-Everything (V2X) systems with enhanced sensing capabilities. One of its promising applications is the reliance on constructed maps for…
Occlusions present a significant challenge for connected and automated vehicles, as they can obscure critical road users from perception systems. Traditional risk metrics often fail to capture the cumulative nature of these threats over…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
This paper presents the design of an ecological adaptive cruise controller (ECO-ACC) for a plug-in hybrid vehicle (PHEV) which exploits automated driving and connectivity. Most existing papers for ECO-ACC focus on a short-sighted control…
LLM-based deep research agents are largely built on the ReAct framework. This linear design makes it difficult to revisit earlier states, branch into alternative search directions, or maintain global awareness under long contexts, often…
Current LLM-based driving agents that rely on unstructured plain-text memory suffer from low-precision scene retrieval and inefficient reflection. To address this limitation, we present RESPOND, a structured decision-making framework for…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planners struggle in these lifelong planning scenarios due to…
Modern vehicles have multiple electronic control units (ECUs) that are connected together as part of a complex distributed cyber-physical system (CPS). The ever-increasing communication between ECUs and external electronic systems has made…