Related papers: NemeSys: Toward Online Underwater Exploration with…
This paper investigates an unmanned aerial vehicle (UAV)-assisted mobile-edge computing (MEC) system, in which the UAV provides complementary computation resource to the terrestrial MEC system. The UAV processes the received computation…
Crisis management (CM) for critical infrastructures, natural disasters such as wildfires and hurricanes, terrorist actions, or civil unrest requires high speed communications and connectivity, and access to high performance computational…
This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into…
Unmanned aerial vehicles (UAVs) have attracted significant interest recently in assisting wireless communication due to their high maneuverability, flexible deployment, and low cost. This paper considers a multi-UAV enabled wireless…
Future wireless networks will need to improve adaptive resource allocation and decision-making to handle the increasing number of intelligent devices. Unmanned aerial vehicles (UAVs) are being explored for their potential in real-time…
Unmanned Aerial Vehicles (UAVs) are getting closer to becoming ubiquitous in everyday life. Among them, Micro Aerial Vehicles (MAVs) have seen an outburst of attention recently, specifically in the area with a demand for autonomy. A key…
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework…
Autonomous landing of Uncrewed Aerial Vehicles (UAVs) on oscillating marine platforms is severely constrained by wave-induced multi-frequency oscillations, wind disturbances, and prediction phase lags in motion prediction. Existing methods…
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…
This letter investigates the transmit power and trajectory optimization problem for unmanned aerial vehicle (UAV)-aided networks. Different from majority of the existing studies with fixed communication infrastructure, a dynamic scenario is…
With the emergence of diverse mobile applications (such as augmented reality), the quality of experience of mobile users is greatly limited by their computation capacity and finite battery lifetime. Mobile edge computing (MEC) and wireless…
In ultra-dense unmanned aerial vehicle (UAV) networks, it is challenging to coordinate the resource allocation and interference management among large-scale UAVs, for providing flexible and efficient service coverage to the ground users…
This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea conditions. The system integrates a dual strategy: (1)…
The aim of this work is to develop an approach that enables Unmanned Aerial System (UAS) to efficiently learn to navigate in large-scale urban environments and transfer their acquired expertise to novel environments. To achieve this, we…
Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…
Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…
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…
With the development of artificial intelligence integrated next-generation communication networks, mobile users (MUs) are increasingly demanding the efficient processing of computation-intensive and latency-sensitive tasks. However,…