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Unmanned aerial vehicles (UAVs), commonly known as drones, are increasingly used across diverse domains, including logistics, agriculture, surveillance, and defense. While these systems provide numerous benefits, their misuse raises safety…
In the coming years, usage of Unmanned Aerial Vehicles (UAVs) is expected to grow tremendously. Maintaining security of UAVs under cyber attacks is an important yet challenging task, as these attacks are often erratic and difficult to…
We consider the downlink transmission in a single cell multiple-input multiple-output system, in which the user equipment correspond to a vehicle moving along a given trajectory. This system utilizes millimeter wave channels characterized…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
With the increasing use of autonomous unmanned aerial vehicles (UAVs), it is critical to ensure that they are continuously tracked and controlled, especially when UAVs operate beyond the communication range of ground stations (GSs).…
In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human searchers on the ground. We derive a framework that includes a…
Unmanned aerial vehicle (UAV) detection and aerial object recognition are critical for modern surveillance and security, prompting a need for robust systems that overcome limitations of single-modality approaches. This research addresses…
Precise user localization and tracking enhances energy-efficient and ultra-reliable low latency applications in the next generation wireless networks. In addition to computational complexity and data association challenges with…
This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…
To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework…
The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…
Accurate accident anticipation is essential for enhancing the safety of autonomous vehicles (AVs). However, existing methods often assume ideal conditions, overlooking challenges such as sensor failures, environmental disturbances, and data…
This paper introduces a novel framework to learn data association for multi-object tracking in a self-supervised manner. Fully-supervised learning methods are known to achieve excellent tracking performances, but acquiring identity-level…
This paper proposes an integrated sensing, navigation, and communication (ISNC) framework for safeguarding unmanned aerial vehicle (UAV)-enabled wireless networks against a mobile eavesdropping UAV (E-UAV). To cope with the mobility of the…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
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…
Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these…
This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU…
Utilizing millimeter-wave (mmWave) frequencies for wireless communication in \emph{mobile} systems is challenging since it requires continuous tracking of the beam direction. Recently, beam tracking techniques based on channel sparsity…