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Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
One of the most useful applications of intelligent aerial robots sometimes called Unmanned Aerial Vehicles (UAV) in Australia is known to be in bushfire monitoring and prediction operations. A swarm of autonomous drones/UAVs programmed to…
The application of Multiple Unmanned Aerial Vehicles (Multi-UAV) in Wilderness Search and Rescue (WiSAR) significantly enhances mission success due to their rapid coverage of search areas from high altitudes and their adaptability to…
Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…
We present a novel predict-then-optimize framework for maritime search operations that integrates trajectory forecasting with UAV deployment optimization-an end-to-end approach not addressed in prior work. A large language model predicts…
In unstructured environments like parking lots or construction sites, due to the large search-space and kinodynamic constraints of the vehicle, it is challenging to achieve real-time planning. Several state-of-the-art planners utilize…
This paper details the challenges in applying two computer vision systems, an EfficientDET supervised learning model and the unsupervised RX spectral classifier, to 98.9 GB of drone imagery from the Wu-Murad wilderness search and rescue…
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…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Considering the accelerated development of Unmanned Aerial Vehicles (UAVs) applications in both industrial and research scenarios, there is an increasing need for localizing these aerial systems in non-urban environments, using GNSS-Free,…
Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…
Utilization of Unmanned Aerial Vehicles (UAVs) in military and civil operations is getting popular. One of the challenges in effectively tasking these expensive vehicles is planning the flight routes to monitor the targets. In this work, we…
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…
Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…
Online coverage planning can be useful in applications like field monitoring and search and rescue. Without prior information of the environment, achieving resolution-complete coverage considering the non-holonomic mobility constraints in…
Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…
This paper studies the optimal unmanned aerial vehicle (UAV) placement problem for wireless networking. The UAV operates as a flying wireless relay to provide coverage extension for a base station (BS) and deliver capacity boost to a user…
Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time…
We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. Traditional exploration methods often take inefficient routes…