Related papers: An Adaptive Coverage Control Approach for Multiple…
Survivors stranded during floods tend to seek refuge on dry land. It is important to search for these survivors and help them reach safety as quickly as possible. The terrain in such situations however, is heavily damaged and restricts the…
Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is…
Unmanned aerial vehicles (UAVs) are frequently used for aerial mapping and general monitoring tasks. Recent progress in deep learning enabled automated semantic segmentation of imagery to facilitate the interpretation of large-scale complex…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…
Deploying unmanned aerial vehicle (UAV) networks to provide coverage for outdoor users has attracted great attention during the last decade. However, outdoor coverage is challenging due to the high mobility of crowds and the diverse terrain…
Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic…
This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
Energy-sharing UAV-UGV systems extend the endurance of Uncrewed Aerial Vehicles (UAVs) by leveraging Uncrewed Ground Vehicles (UGVs) as mobile charging stations, enabling persistent autonomy in infrastructure-sparse environments. Trajectory…
Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…