Related papers: Resilient Topology-Aware Coordination for Dynamic …
Operators of Electric Autonomous Mobility-on-Demand (E-AMoD) fleets need to make several real-time decisions such as matching available vehicles to ride requests, rebalancing idle vehicles to areas of high demand, and charging vehicles to…
The increasing reliance on AI-driven 5G/6G network infrastructures for mission-critical services highlights the need for reliability and resilience against sophisticated cyber-physical threats. These networks are highly exposed to novel…
5G and beyond networks need to provide dynamic and efficient infrastructure management to better adapt to time-varying user behaviors (e.g., user mobility, interference, user traffic and evolution of the network topology). In this paper, we…
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…
Achieving resilience remains a significant challenge for Unmanned Aerial Vehicle (UAV) communications in 5G and 6G networks. Although UAVs benefit from superior positioning capabilities, rate optimization techniques, and extensive…
Unmanned Aerial Vehicles (UAVs) are increasingly used as cost-effective and flexible Wi-Fi Access Points (APs) and cellular Base Stations (BSs) to enhance Quality of Service (QoS). In disaster management scenarios, UAV-based networks…
Fleets of robo-taxis offering on-demand transportation services, commonly known as Autonomous Mobility-on-Demand (AMoD) systems, hold significant promise for societal benefits, such as reducing pollution, energy consumption, and urban…
Unmanned aerial vehicles (UAVs) are envisioned to complement the 5G communication infrastructure in future smart cities. Hot spots easily appear in road intersections, where effective communication among vehicles is challenging. UAVs may…
Large-scale Unmanned Aerial Vehicle (UAV) failures can split an unmanned aerial vehicle swarm network into disconnected sub-networks, making decentralized recovery both urgent and difficult. Centralized recovery methods depend on global…
Unmanned aerial vehicles (UAVs) play significant roles in multiple fields, which brings great challenges for the airspace safety. In order to achieve efficient surveillance and break the limitation of application scenarios caused by single…
Tackling complex reasoning tasks typically relies on massive monolithic LLMs, which suffer from severe computational redundancy. While task decomposition through structured pipelines or multi-agent collaborations offers an alternative,…
The Software-Defined Air-Ground integrated Vehicular (SD-AGV) networks have emerged as a promising paradigm, which realize the flexible on-ground resource sharing to support innovative applications for UAVs with heavy computational…
A key challenge in disaster response is maintaining situational awareness of an evolving landscape, which requires balancing exploration of unobserved regions with sustained monitoring of changing Regions of Interest (ROIs). Unmanned Aerial…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
The integration of unmanned aerial vehicles (UAVs) with Internet of Things (IoT) networks offers promising solutions for efficient data collection. However, the limited energy capacity of UAVs remains a significant challenge. In this case,…
The PALS architecture reduces distributed, real-time asynchronous system design to the design of a synchronous system under reasonable requirements. Assuming logical synchrony leads to fewer system behaviors and provides a conceptually…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…