Related papers: TACOS: Task Agnostic COordinator of a multi-drone …
Natural language interfaces can simplify interaction with multi-robot systems, especially when non-expert users need to issue high-level commands. Acoustic manipulation using ultrasonic phased arrays also enables contactless object handling…
Recent advancements in Large Language Models (LLMs) offer new opportunities to create natural language interfaces for Autonomous Driving Systems (ADSs), moving beyond rigid inputs. This paper addresses the challenge of mapping the…
The surge of artificial intelligence, particularly large language models, has driven the rapid development of large-scale machine learning clusters. Executing distributed models on these clusters is often constrained by communication…
This paper introduces VLN-Pilot, a novel framework in which a large Vision-and-Language Model (VLLM) assumes the role of a human pilot for indoor drone navigation. By leveraging the multimodal reasoning abilities of VLLMs, VLN-Pilot…
Recent breakthroughs in multimodal large language models (MLLMs) have endowed AI systems with unified perception, reasoning and natural-language interaction across text, image and video streams. Meanwhile, Unmanned Aerial Vehicle (UAV)…
This paper introduces CoMuRoS (Collaborative Multi-Robot System), a generalizable hierarchical architecture for heterogeneous robot teams that unifies centralized deliberation with decentralized execution, and supports event-driven…
Adaptive collaboration is critical to a team of autonomous robots to perform complicated navigation tasks in large-scale unknown environments. An effective collaboration strategy should be determined and adapted according to each robot's…
The use of semi-autonomous Unmanned Aerial Vehicles (UAVs or drones) to support emergency response scenarios, such as fire surveillance and search-and-rescue, has the potential for huge societal benefits. Onboard sensors and artificial…
Recent advances in agentic and physical artificial intelligence (AI) have largely focused on ground-based platforms such as humanoid and wheeled robots, leaving aerial robots relatively underexplored. Meanwhile, state-of-the-art unmanned…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
We present the Toolbox for Analysis and Large-scale Optimization of Spacecraft (TALOS), a framework designed for applying large-scale multidisciplinary design optimization (MDO) to spacecraft design problems. The framework is built using…
As the demands for immediate and effective responses increase in both civilian and military domains, the unmanned aerial vehicle (UAV) swarms emerge as effective solutions, in which multiple cooperative UAVs can work together to achieve…
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…
Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based…
Multi-robot coordination has traditionally relied on a mission-specific and expert-driven pipeline, where natural language mission descriptions are manually translated by domain experts into mathematical formulation, algorithm design, and…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…
Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…
This paper proposes FLUC, a modular framework that integrates open-source Large Language Models (LLMs) with Unmanned Aerial Vehicle (UAV) autopilot systems to enable autonomous control in Flying Networks (FNs). FLUC translates high-level…
To guarantee the safety and smooth control of Unmanned Aerial Vehicle (UAV) operation, the new control and command (C&C) data type imposes stringent quality of service (QoS) requirements on the cellular network. However, the existing…