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The advent of Urban Air Mobility (UAM) presents the scope for a transformative shift in the domain of urban transportation. However, its widespread adoption and economic viability depends in part on the ability to optimally schedule the…
Urban Air Mobility (UAM) aims to expand existing transportation networks in metropolitan areas by offering short flights either to transport passengers or cargo. Electric vertical takeoff and landing aircraft powered by lithium-ion battery…
Uncertainty quantification methods are required in autonomous systems that include deep learning (DL) components to assess the confidence of their estimations. However, to successfully deploy DL components in safety-critical autonomous…
Unmanned Aerial Systems (UAS) are being increasingly deployed for commercial, civilian, and military applications. The current UAS state-of-the-art still depends on a remote human controller with robust wireless links to perform several of…
In this paper, an interference-aware path planning scheme for a network of cellular-connected unmanned aerial vehicles (UAVs) is proposed. In particular, each UAV aims at achieving a tradeoff between maximizing energy efficiency and…
In this paper, the intelligent reflecting surface (IRS)-aided unmanned aerial vehicle (UAV) communication system is studied, where the UAV is deployed to serve the user equipment (UE) with the assistance of multiple IRSs mounted on several…
Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…
Grid maps are widely established for the representation of static objects in robotics and automotive applications. Though, incorporating velocity information is still widely examined because of the increased complexity of dynamic grids…
Recently, urban air mobility (UAM) has attracted attention as an emerging technology that will bring innovation to urban transportation and aviation systems. Since the UAM systems pursue fully autonomous flight without a pilot, wireless…
Unmanned aerial vehicles (UAVs) have emerged as the potential aerial base stations (BSs) to improve terrestrial communications. However, the limited onboard energy and antenna power of a UAV restrict its communication range and transmission…
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient…
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks. In this paper, we aim to find collision-free paths for multiple cellular-connected UAVs, while satisfying requirements of connectivity with ground…
For multiple Unmanned-Aerial-Vehicles (UAVs) assisted Mobile Edge Computing (MEC) networks, we study the problem of combined computation and communication for user equipments deployed with multi-type tasks. Specifically, we consider that…
Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…
With 5G deployment and the evolution toward 6G, mobile networks must make decisions in highly dynamic environments under strict latency, energy, and spectrum constraints. Achieving this goal, however, depends on prior knowledge of…
In radar systems, unimodular (or constant-modulus) waveform design plays an important role in achieving better clutter/interference rejection, as well as a more accurate estimation of the target parameters. The design of such sequences has…
Future wireless networks are envisioned to support both sensing and artificial intelligence (AI) services. However, conventional integrated sensing and communication (ISAC) networks may not be suitable due to the ignorance of diverse…
Autonomous navigation in mobile robots, reliant on perception and planning, faces major hurdles in large-scale, complex environments. These include heavy computational burdens for mapping, sensor occlusion failures for UAVs, and traversal…
This paper proposes a high-accuracy radio map construction method tailored for environments where location information is affected by bursty errors. Radio maps are an effective tool for visualizing wireless environments. Although extensive…