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Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…

This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…

This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…

In this study, we present an advanced convolutional neural network (CNN) architecture for ship classification based on optical satellite imagery, which significantly enhances performance through the integration of a convolutional block…

The integration of autonomous vehicles (AVs) into the existing transportation infrastructure offers a promising solution to alleviate congestion and enhance mobility. This research explores a novel approach to traffic optimization by…

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…

This work describes the orchestration of a fleet of rotary-wing Unmanned Aerial Vehicles (UAVs) for harvesting prioritized traffic from random distributions of heterogeneous users with Multiple Input Multiple Output (MIMO) capabilities. In…

Presented study introduces a novel distributed cloud-edge framework for autonomous multi-UAV systems that combines the computational efficiency of neuromorphic computing with nature-inspired control strategies. The proposed architecture…

Safe navigation in uncertain environments requires planning methods that integrate risk aversion with active perception. In this work, we present a unified framework that refines a coarse reference path by constructing tail-sensitive risk…

Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…

We address the challenge of multi-robot autonomous hazard mapping in high-risk, failure-prone, communication-denied environments such as post-disaster zones, underground mines, caves, and planetary surfaces. In these missions, robots must…

Recent development in wireless communications has provided many reliable solutions to emergency response issues, especially in scenarios with dysfunctional or congested base stations. Prior studies on underwater emergency communications,…

Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…

The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea…

In unseen and complex outdoor environments, collision avoidance navigation for unmanned aerial vehicle (UAV) swarms presents a challenging problem. It requires UAVs to navigate through various obstacles and complex backgrounds. Existing…

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…

Lightweight autonomous unmanned aerial vehicles (UAV) are emerging as a central component of a broad range of applications. However, autonomous navigation necessitates the implementation of perception algorithms, often deep neural networks…

To fully utilize the abundant spectrum resources in millimeter wave (mmWave), Beam Alignment (BA) is necessary for large antenna arrays to achieve large array gains. In practical dynamic wireless environments, channel modeling is…

We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…