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Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload transfer performance. Unlike traditional crane systems,…
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
Next-generation power grids will likely enable concurrent service for residences and plug-in electric vehicles (PEVs). While the residence power demand profile is known and thus can be considered inelastic, the PEVs' power demand is only…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…
This paper presents the TransBoat, a novel omnidirectional unmanned surface vehicle (USV) with a magnetbased docking system for overwater construction with wave disturbances. This is the first such USV that can build overwater structures by…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…
In this paper, we construct an air-sea collaborative system framework based on the Integrated Sensing and Communication (ISAC) techniques, where the Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) jointly inspect targets of…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Model Predictive Control (MPC) has shown to be a successful method for many applications that require control. Especially in the presence of prediction uncertainty, various types of MPC offer robust or efficient control system behavior. For…
Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…
This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea conditions. The system integrates a dual strategy: (1)…
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and reduce cost. Usually, a fully autonomous system for the…
In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…
This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and…