相关论文: Formation Tracking for a Multi-Auv System Based on…

Navigating spatially varied and dynamic environments is one of the key tasks for autonomous agents. In this paper we present a novel method of navigating a mobile platform with one or multiple 3D-sonar sensors. Moving a mobile platform and…

Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…

This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…

It is significant to employ multiple autonomous underwater vehicles (AUVs) to execute the underwater target tracking task collaboratively. However, it's pretty challenging to meet various prerequisites utilizing traditional control methods.…

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…

This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…

In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…

Automated animal behavior analysis relies on long-term, interpretable individual trajectories; however, multi-animal tracking in space science experimental videos remains highly challenging due to weak appearance cues, low-quality imaging,…

Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To…

Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…

We use Reinforcement Meta Learning to optimize an adaptive guidance system suitable for the approach phase of a gliding hypersonic vehicle. Adaptability is achieved by optimizing over a range of off-nominal flight conditions including…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…

In this paper, we show how behaviour trees (BTs) can be used to design modular, versatile, and robust control architectures for mission-critical systems. In particular, we show this in the context of autonomous underwater vehicles (AUVs).…

Fluid antenna systems (FAS) have emerged as a revolutionary technology offering enhanced spatial diversity within a compact form factor. Concurrently, unmanned aerial vehicles (UAVs) are integral to future networks, necessitating channel…

This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…

Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…

In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…