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Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Autonomous underwater vehicles (AUVs) are underwater robotic platforms used in a variety of applications. An AUV's navigation solution relies heavily on the fusion of inertial sensors and Doppler velocity logs (DVL), where the latter…
Affordable housing shortages affect billions, while land scarcity and regulations make site selection slow. We present AURA (Autonomous Urban Resource Allocator), a hierarchical multi-agent reinforcement learning system for real-time…
The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…
Precise autonomous navigation remains a substantial challenge to all underwater platforms. Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL) have complementary characteristics and are promising sensors that could enable fully…
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable…
Underwater robotics is becoming increasingly important for marine science, environmental monitoring, and subsea industrial operations, yet the development of underwater manipulation and actuation systems remains restricted by high costs,…
Seamlessly unifying communication and sensing, sixth-generation (6G) networks are poised to transform into intelligent platforms with high spectral-energy efficiency and real-time environmental awareness. In the low-altitude economy,…
In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring, relying either on sporadic surveys…
This article introduces a five-tiered route planner for accessing multiple nodes with multiple autonomous underwater vehicles (AUVs) that enables efficient task completion in stochastic ocean environments. First, the pre-planning tier…
We present MIDGARD, an open-source simulation platform for autonomous robot navigation in outdoor unstructured environments. MIDGARD is designed to enable the training of autonomous agents (e.g., unmanned ground vehicles) in photorealistic…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
This paper presents the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environments. MARVEL was…
The increasing integration of artificial intelligence (AI) in everyday life brings with it new challenges and questions for regarding how humans interact with autonomous agents. Multi-agent experiments, where humans and AI act together, can…
This work explores the application of nonlinear oscillators coupled by electric field in water for collective tasks in underwater robotics. Such coupled oscillators operate in clear and colloidal (mud, bottom silt) water and represent a…
Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…
Accurate indoor positioning for unmanned aerial vehicles (UAVs) is critical for logistics, surveillance, and emergency response applications, particularly in GPS-denied environments. Existing indoor localization methods, including optical…
Autonomous vehicles (AV) offer a cost-effective solution for scientific missions such as underwater tracking. Recently, reinforcement learning (RL) has emerged as a powerful method for controlling AVs in complex marine environments.…
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…