相关论文: Dolphin: a task orchestration language for autonom…

Unmanned Aerial Vehicles (UAVs) are evolving into language-interactive platforms, enabling more intuitive forms of human-drone interaction. While prior works have primarily focused on high-level planning and long-horizon navigation, we…

This paper introduces VLN-Pilot, a novel framework in which a large Vision-and-Language Model (VLLM) assumes the role of a human pilot for indoor drone navigation. By leveraging the multimodal reasoning abilities of VLLMs, VLN-Pilot…

An unmanned surface vehicle (USV) can perform complex missions by continuously observing the state of its surroundings and taking action toward a goal. A SWARM of USVs working together can complete missions faster, and more effectively than…

This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…

In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…

Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…

Proceedings of the Second International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'11), held in conjunction with the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011),…

We present HARMONIC, a framework for implementing cognitive robots that transforms general-purpose robots into trusted teammates capable of complex decision-making, natural communication and human-level explanation. The framework supports…

Unmanned Aerial Vehicle (UAVs) have become very popular in the last decade due to some advantages such as strong terrain adaptation, low cost, zero casualties, and so on. One of the most interesting advances in this field is the automation…

Increased utilization of unmanned aerial vehicles (UAVs) in critical operations necessitates secure and reliable communication with Ground Control Stations (GCS). This paper introduces Aero-LLM, a framework integrating multiple Large…

Planning is a fundamental activity, arising frequently in many contexts, from daily tasks to industrial processes. The planning task consists of selecting a sequence of actions to achieve a specified goal from specified initial conditions.…

The rapid development of Unmanned aerial vehicles (UAVs) technology has spawned a wide variety of applications, such as emergency communications, regional surveillance, and disaster relief. Due to their limited battery capacity and…

A new AUV mission planning and execution software has been tested on AUV Sentry. Dubbed DINOS-R, it draws inspiration from cognitive architectures and AUV control systems to replace the legacy MC architecture. Unlike these existing…

This paper addresses the challenging problem of enabling reliable immersive teleoperation in scenarios where an Unmanned Aerial Vehicle (UAV) is remotely controlled by an operator via a cellular network. Such scenarios can be quite critical…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

The First International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob'10) was held at the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10), October 2010 in Taipei, Taiwan. The…

Following work on joint object-action representations, functional object-oriented networks (FOON) were introduced as a knowledge graph representation for robots. A FOON contains symbolic concepts useful to a robot's understanding of tasks…

When a single pilot is responsible for managing a multi-drone system, the task may demand varying levels of autonomy, from direct control of individual UAVs, to group-level coordination, to fully autonomous swarm behaviors for accomplishing…

Unmanned aerial vehicles (UAVs) are playing an increasingly pivotal role in modern communication networks,offering flexibility and enhanced coverage for a variety of applica-tions. However, UAV networks pose significant challenges due to…