相关论文: Autonomous UAV Navigation Using Reinforcement Lear…
Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…
Urban air mobility (UAM) is a transformative system that operates various small aerial vehicles in urban environments to reshape urban transportation. However, integrating UAM into existing urban environments presents a variety of complex…
Unmanned Aerial Vehicles grow more popular by the day and applications for them are crossing boundaries of science and industry, with everything from aerial photography to package delivery to disaster management benefiting from the…
This paper studies the path design problem for cellular-connected unmanned aerial vehicle (UAV), which aims to minimize its mission completion time while maintaining good connectivity with the cellular network. We first argue that the…
Unmanned aerial vehicles (UAVs) have numerous applications, but their efficient and optimal flight can be a challenge. Reinforcement Learning (RL) has emerged as a promising approach to address this challenge, yet there is no standardized…
Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…
Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…
Modern communication systems need to fulfill multiple and often conflicting objectives at the same time. In particular, new applications require high reliability while operating at low transmit powers. Moreover, reliability constraints may…
This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based…
Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…
Vision-driven autonomous flight and obstacle avoidance of Unmanned Aerial Vehicles (UAVs) along complex riverine environments for tasks like rescue and surveillance requires a robust control policy, which is yet difficult to obtain due to…
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to…
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Persistent target tracking in urban environments using UAV is a difficult task due to the limited field of view, visibility obstruction from obstacles and uncertain target motion. The vehicle needs to plan intelligently in 3D such that the…
Cellular-connected unmanned aerial vehicle (UAV) is a promising technology to unlock the full potential of UAVs in the future. However, how to achieve ubiquitous three-dimensional (3D) communication coverage for the UAVs in the sky is a new…
The use of flying platforms such as unmanned aerial vehicles (UAVs), popularly known as drones, is rapidly growing. In particular, with their inherent attributes such as mobility, flexibility, and adaptive altitude, UAVs admit several key…
This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…