相关论文: SuMo-SS: Submodular Optimization Sensor Scattering…

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…

Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…

Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…

Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…

The online fusion and tracking of static objects from heterogeneous sensor detections is a fundamental problem in robotics, autonomous systems, and environmental mapping. Although classical data association approaches such as JPDA are well…

Drone base stations (DBSs) have recently gained wide popularity as a possible solution to provide wireless connectivity in a variety of scenarios, for example, in inaccessible terrains such as connectivity over vast areas of a water body or…

Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…

The problem of detecting buried unexploded ordnance (UXO) is addressed with a sensor deployed from a shallow-draft surface vessel. This sonar system produces three dimensional synthetic aperture sonar (SAS) imagery of both surficial and…

Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…

Given the energy constraints in autonomous mobile agents (AMAs), such as unmanned vehicles, spiking neural networks (SNNs) are increasingly favored as a more efficient alternative to traditional artificial neural networks. AMAs employ…

This paper investigates an uplink user equipment (UE) location and orientation estimation problem in an indoor rich-scattering environment (RSE) for a multiple-input-multiple-output (MIMO) narrowband reconfigurable intelligent surfaces…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

The safety of autonomous systems in dynamic and hazardous environments poses significant challenges. This paper presents a testing approach named SCALOFT for systematically assessing the safety of an autonomous aerial drone in a mine.…

The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…

Designing autonomous drone swarms is hampered by a vast design space spanning platform, algorithmic, and numerical-strength choices. We perform large-scale agent-based simulations in three canonical scenarios: swarm-on-swarm battle,…

Particle Swarm Optimisation (PSO) is a powerful optimisation algorithm that can be used to locate global maxima in a search space. Recent interest in swarms of Micro Aerial Vehicles (MAVs) begs the question as to whether PSO can be used as…

Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…

A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…

Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…

Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…