Related papers: Nauplius Optimisation for Autonomous Hydrodynamics
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Autonomous navigation of UAV swarms in perceptually-degraded environments, where GPS is unavailable and terrain is densely cluttered, presents a critical bottleneck for real-world deployment. Existing optimization-based planners lack the…
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…
This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
The design of autonomous underwater vehicles (AUVs) and their docking stations has been a popular research topic for several decades. Although many AUV and dock designs have been proposed, materialized, and commercialized, most of these…
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…
Unmanned aerial vehicles (UAVs), especially fixed-wing ones that withstand strong winds, have great potential for oceanic exploration and research. This paper studies a UAV-aided maritime data collection system with a fixed-wing UAV…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
In this paper, we propose a novel joint intelligent trajectory design and resource allocation algorithm based on user's mobility and their requested services for unmanned aerial vehicles (UAVs) assisted networks, where UAVs act as nodes of…
Swarm Intelligence-based optimization techniques combine systematic exploration of the search space with information available from neighbors and rely strongly on communication among agents. These algorithms are typically employed to solve…
This paper addresses the problem of autonomous task allocation by a swarm of autonomous, interactive drones in large-scale, dynamic spatio-temporal environments. When each drone independently determines navigation, sensing, and recharging…
In this paper, we investigate an unmanned aerial vehicle (UAV)-enabled secure communication scenario that a cluster of UAVs performs a virtual non-uniform linear array (NULA) to communicate with a base station (BS) in the presence of…
This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…
Recent development in wireless communications has provided many reliable solutions to emergency response issues, especially in scenarios with dysfunctional or congested base stations. Prior studies on underwater emergency communications,…
Swarm navigation in cluttered environments is a grand challenge in robotics. This work combines deep learning with first-principle physics through differentiable simulation to enable autonomous navigation of multiple aerial robots through…
Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…
Cooperating autonomous underwater vehicles (AUVs) often rely on acoustic communication to coordinate their actions effectively. However, the reliability of underwater acoustic communication decreases as the communication range between…
We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…