相关论文: Heterogeneous Ground-Air Autonomous Vehicle Networ…

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…

This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…

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,…

Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, and perception of mobile robots. The limited availability and…

Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with…

The unmanned aerial vehicle (UAV)-based wireless mesh networks can economically provide wireless services for the areas with disasters. However, the capacity of air-to-air communications is limited due to the multi-hop transmissions. In…

This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary…

Ad hoc wireless mesh networks formed by unmanned aerial vehicles (UAVs) equipped with wireless transceivers (access points (APs)) are increasingly being touted as being able to provide a flexible "on-the-fly" communications infrastructure…

The evolution of Internet of Things (IoT) into multi-layered environments has positioned Low-Power Wide Area Networks (LPWANs), particularly Long Range (LoRa), as the backbone for connectivity across both surface and subterranean…

Located in the stratospheric layer of Earth's atmosphere, high altitude platform station (HAPS) is a promising network infrastructure, which can bring significant advantages to sixth-generation (6G) and beyond wireless communications…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

Unmanned aerial vehicle (UAV) has the advantages of large coverage and flexibility, which could be applied in disaster management to provide wireless services to the rescuers and victims. When UAVs forms an aerial mesh network,…

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…

We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and…

The integrated use of non-terrestrial network (NTN) entities such as the high-altitude platform station (HAPS) and low-altitude platform station (LAPS) has become essential elements in the space-air-ground integrated networks (SAGINs).…

The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in to human-made tunnels, underground urban infrastructure and…

This paper introduces the deployment of unmanned aerial vehicles (UAVs) as lightweight wireless access points that leverage the fixed infrastructure in the context of the emerging open radio access network (O-RAN). More precisely, we…

Nowadays, Unmanned Aerial Vehicles (UAVs) are being used in several novel applications, especially in the telecommunication domain. However, ensuring UAV communication and networking for the purpose of a specific application is still…

Multi-access edge computing (MEC) is regarded as a promising technology in the sixth-generation communication. However, the antenna gain is always affected by the environment when unmanned aerial vehicles (UAVs) are served as MEC platforms,…

By taking full advantage of Computing, Communication and Caching (3C) resources at the network edge, Mobile Edge Computing (MEC) is envisioned as one of the key enablers for the next generation networks. However, current fixed-location MEC…