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In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…
We address the mobility management of an autonomous UAV-mounted base station (UAV-BS) that provides communication services to a cluster of users on the ground while the geographical characteristics (e.g., location and boundary) of the…
The capability of UAVs for efficient autonomous navigation and obstacle avoidance in complex and unknown environments is critical for applications in agricultural irrigation, disaster relief and logistics. In this paper, we propose the DPRL…
Reliable long-range flight of unmanned aerial vehicles (UAVs) in GNSS-denied environments is challenging: integrating odometry leads to drift, loop closures are unavailable in previously unseen areas and embedded platforms provide limited…
Hierarchical Reinforcement Learning (HRL) agents often struggle with long-horizon visual planning due to their reliance on error-prone distance metrics. We propose Discrete Hierarchical Planning (DHP), a method that replaces continuous…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
Drone base stations can provide cellular networks in areas that have lost coverage due to disasters. To serve the maximum number of users in the disaster area without apriori user distribution information, we proposed a 'sweep and search'…
Unmanned aerial vehicles (UAVs), as aerial base stations, are a promising solution for providing wireless communications, thanks to their high flexibility and autonomy. Moreover, emerging services, such as extended reality, require…
In this paper, an interference-aware path planning scheme for a network of cellular-connected unmanned aerial vehicles (UAVs) is proposed. In particular, each UAV aims at achieving a tradeoff between maximizing energy efficiency and…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…
Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
In this paper, we address the problem of adaptive path planning for accurate semantic segmentation of terrain using unmanned aerial vehicles (UAVs). The usage of UAVs for terrain monitoring and remote sensing is rapidly gaining momentum due…
This paper presents a scalable and fault-tolerant framework for unmanned aerial vehicle (UAV) mission management in complex and uncertain environments. The proposed approach addresses the computational bottleneck inherent in solving…
The use of drone small cells (DSCs) which are aerial wireless base stations that can be mounted on flying devices such as unmanned aerial vehicles (UAVs), is emerging as an effective technique for providing wireless services to ground users…
The demand for future wireless communication systems is being satisfied for various circumstances through unmanned aerial vehicles (UAVs), which act as flying base stations (BSs). In this letter, we propose an ellipse clustering algorithm…
Uncrewed aerial vehicles (UAVs) are increasingly deployed in complex networked environments, yet the joint optimization of multi-UAV motion control and connectivity remains a fundamental challenge. In this paper, we study a multi-UAV system…
The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…