相关论文: Dolphin: a task orchestration language for autonom…
Various types of vehicle automation is increasingly used in a variety of environments including road vehicles such as cars or automated shuttles, confined areas such as mines or harbours, or in agriculture and forestry. In many use cases,…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe…
This paper presents UnderwaterVLA, a novel framework for autonomous underwater navigation that integrates multimodal foundation models with embodied intelligence systems. Underwater operations remain difficult due to hydrodynamic…
Recently, visual-language navigation (VLN) -- entailing robot agents to follow navigation instructions -- has shown great advance. However, existing literature put most emphasis on interpreting instructions into actions, only delivering…
Multi-objective optimization problems (MOPs) are ubiquitous in real-world applications, presenting a complex challenge of balancing multiple conflicting objectives. Traditional evolutionary algorithms (EAs), though effective, often rely on…
The future of autonomous vehicles lies in the convergence of human-centric design and advanced AI capabilities. Autonomous vehicles of the future will not only transport passengers but also interact and adapt to their desires, making the…
Visual Language Navigation is a task that challenges robots to navigate in realistic environments based on natural language instructions. While previous research has largely focused on static settings, real-world navigation must often…
This paper presents a cooperative dynamic task assignment framework for a certain class of Autonomous Underwater Vehicles (AUVs) employed to control outbreak of Crown-Of-Thorns Starfish (COTS) in Australia's Great Barrier Reef. The problem…
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…
This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomous Driving (AD). LVLMs excel at high-level task planning…
Natural language (NL) navigation for low-altitude unmanned aerial vehicles (UAVs) offers an intelligent and convenient solution for low-altitude aerial services by enabling an intuitive interface for non-expert operators. However, deploying…
Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…
Autonomous and targeted underwater visual monitoring and exploration using Autonomous Underwater Vehicles (AUVs) can be a challenging task due to both online and offline constraints. The online constraints comprise limited onboard storage…
Large Language Models (LLMs) are increasingly explored as high-level reasoning engines for cyber-physical systems, yet their application to real-time UAV swarm management remains challenging due to heterogeneous interfaces, limited…
Existing navigation decision support systems often perform poorly when handling non-predefined navigation scenarios. Leveraging the generalization capabilities of large language model (LLM) in handling unknown scenarios, this research…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…
An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…