Related papers: Resilient Topology-Aware Coordination for Dynamic …
Unmanned aerial vehicles (UAVs) are increasingly used to support time-critical medical supply delivery, providing rapid and flexible logistics during emergencies and resource shortages. However, effective deployment of UAV fleets requires…
This paper investigates the unmanned aerial vehicle (UAV)-assisted resilience perspective in the 6G network energy saving (NES) scenario. More specifically, we consider multiple ground base stations (GBSs) and each GBS has three different…
Agile unmanned aerial vehicle (UAV) navigation in cluttered environments demands a planning architecture that is both computationally efficient and structurally expressive enough to reason over multiple feasible motions. This paper presents…
As modern wireless communication networks grow increasingly complex, network outages driven by the inconsistency between dynamic topologies and protocol configurations have become a critical concern. To solve this issue, we mathematically…
Lane topology reasoning plays a critical role in autonomous driving by modeling the connections among lanes and the topological relationships between lanes and traffic elements. Most existing methods adopt a first-detect-then-reason…
The use of unmanned aerial vehicles (UAVs) that serve as aerial base stations is expected to become predominant in the next decade. However, in order for this technology to unfold its full potential it is necessary to develop a fundamental…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Future vehicular networks require continuous connectivity to serve highly mobile users in urban environments. To mitigate the coverage limitations of fixed terrestrial macro base stations (MBS) under non line-of-sight (NLoS) conditions,…
In contrast to terrestrial wireless networks, dynamic Unmanned Aerial Vehicle (UAV) networks are susceptible to unexpected link failures arising from UAV breakdowns or the depletion of its batteries. Drastic user rate fluctuations and sum…
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Data-driven control methods based on subspace representations are powerful but are often limited to linear time-invariant systems where the model order is known. A key challenge is developing online data-driven control algorithms for…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team…
Autonomous agents powered by large language models (LLMs) have shown impressive capabilities in tool manipulation for complex task-solving. However, existing paradigms such as ReAct rely on sequential reasoning and execution, failing to…
Multi-agent systems (MAS) powered by large language models (LLMs) have emerged as a powerful paradigm for complex problem solving, where performance critically depends on the underlying inter-agent communication topology. However, existing…
Heterogeneous marine-aerial swarm networks encounter substantial difficulties due to targeted communication disruptions and structural weaknesses in adversarial environments. This paper proposes a two-step framework to strengthen the…
Despite the growing impact of Unmanned Aerial Vehicles (UAVs) across various industries, most of current available solutions lack for a robust autonomous navigation system to deal with the appearance of obstacles safely. This work presents…
The real-time performance, adversarial resiliency, and privacy preservation are the most important metrics that need to be balanced to practice collision avoidance in large-scale multi-UAV (Unmanned Aerial Vehicle) systems. Current…
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a…