相关论文: Autonomous Thermalling as a Partially Observable M…

In this paper, we propose a drone-based wildfire monitoring system for remote and hard-to-reach areas. This system utilizes autonomous unmanned aerial vehicles (UAVs) with the main advantage of providing on-demand monitoring service faster…

Self-propelling active matter relies on the conversion of energy from the undirected, nanoscopic scale to directed, macroscopic motion. One of the challenges in the design of synthetic active matter lies in the control of dynamic states, or…

Autonomous tracking of suspicious unmanned aerial vehicles (UAVs) by legitimate monitoring UAVs (or monitors) can be crucial to public safety and security. It is non-trivial to optimize the trajectory of a monitor while conceiving its…

Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous exploration. Given the inherent energy and time constraints in…

To explore oceans on ice-covered moons in the solar system, energy-efficient Autonomous Underwater Vehicles (AUVs) with long ranges must cover enough distance to record and collect enough data. These usually underactuated vehicles are hard…

In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…

Thermal imaging from unmanned aerial vehicles (UAVs) holds significant potential for applications in search and rescue, wildlife monitoring, and emergency response, especially under low-light or obscured conditions. However, the scarcity of…

In this paper, we propose a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing, communication, and computation network. Specifically, the treble-functional UAVs are capable of offering communication and edge computing services…

We consider partially observable Markov decision processes (POMDPs) modeling an agent that needs a supply of a certain resource (e.g., electricity stored in batteries) to operate correctly. The resource is consumed by agent's actions and…

In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…

A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…

Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

Safe autonomous driving in urban areas requires robust algorithms to avoid collisions with other traffic participants with limited perception ability. Current deployed approaches relying on Autonomous Emergency Braking (AEB) systems are…

We present a closed-loop control strategy for a delta-wing unmanned aerial aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air transition. Our control system consists of a hybrid state estimator and a closed-loop…

Motivated by agility, 3D mobility, and low-risk operation compared to human-operated management systems of autonomous unmanned aerial vehicles (UAVs), this work studies UAV-based active wildfire monitoring where a UAV detects fire incidents…

The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…

In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…

For heterogeneous unmanned systems composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), using UAVs serve as eyes to assist UGVs in motion planning is a promising research direction due to the UAVs' vast view…