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Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…

The transport industry has recently shown significant interest in unmanned surface vehicles (USVs), specifically for port and inland waterway transport. These systems can improve operational efficiency and safety, which is especially…

The paper proposes a novel Economic Model Predictive Control (EMPC) scheme for Autonomous Surface Vehicles (ASVs) to simultaneously address path following accuracy and energy constraints under environmental disturbances. By formulating…

Industrial Cyber-Physical Systems (ICPS) technologies are foundational in driving maritime autonomy, particularly for Unmanned Surface Vehicles (USVs). However, onboard computational constraints and communication latency significantly…

Stop-and-go waves in traffic flow pose a persistent challenge, compromising safety, efficiency, and environmental sustainability. This paper introduces a novel mitigation strategy discovered through training multi-agent deep reinforcement…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem…

Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…

Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital importance, for improving both the quality and the…

In this paper, we propose a re-routing strategy for connected and automated vehicles (CAVs), considering coordination and control of all the CAVs in the network. The objective for each CAV is to find the route that minimizes the total…

In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…

Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…

In this paper, we construct an air-sea collaborative system framework based on the Integrated Sensing and Communication (ISAC) techniques, where the Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) jointly inspect targets of…

The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…

We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particularly foundation models, have demonstrated promising…

Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…

For safe operation, autonomous vehicles have to obey traffic rules that are set forth in legal documents formulated in natural language. Temporal logic is a suitable concept to formalize such traffic rules. Still, temporal logic rules often…

Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to complex vessel interactions and significant environmental…

This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…

A lack of understanding of interactions and the inability to effectively resolve conflicts continue to impede the progress of Connected Autonomous Vehicles (CAVs) in their interactions with Human-Driven Vehicles (HDVs). To address this…