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Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…
The deployment of Aerial Base Stations (ABSs) mounted on board Unmanned Aerial Vehicles (UAVs) is emerging as a promising technology to provide connectivity in areas where terrestrial infrastructure is insufficient or absent. This may occur…
Unmanned Aerial Vehicles (UAVs) hold great potential to support a wide range of applications due to the high maneuverability and flexibility. Compared with single UAV, UAV swarm carries out tasks efficiently in harsh environment, where the…
The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
Unmanned aerial vehicles (UAVs) can provide wireless access to terrestrial users, regardless of geographical constraints, and will be an important part of future communication systems. In this paper, a multi-user downlink dual-UAVs enabled…
Recently, Unmanned Aerial Vehicle (UAV) based communications systems have attracted increasing research and commercial interest due to their cost effective deployment and ease of mobility.During natural disasters and emergencies, such…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
The exploration and sustainable use of marine environments have become increasingly critical as oceans cover over 70% of surface of Earth. This paper provides a comprehensive survey and classification of state-of-the-art underwater vehicles…
This paper investigates the optimization problem for TDoA-based UAV localization in low-altitude urban environments with hexagonal grid node deployment. We derive a lightweight optimized node selection strategy based on only RSSI…
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…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…
Low-level clouds are ubiquitous in Earth's atmosphere, playing a crucial role in transporting heat, moisture, and momentum across the planet. Their evolution and interaction with other atmospheric components, such as aerosols, are essential…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…