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Docking control of an autonomous underwater vehicle (AUV) is a task that is integral to achieving persistent long term autonomy. This work explores the application of state-of-the-art model-free deep reinforcement learning (DRL) approaches…

The \textit{de facto} paradigm for applying dense retrieval (DR) to new tasks involves fine-tuning a pre-trained model for a specific task. However, this paradigm has two significant limitations: (1) It is difficult adapt the DR to a new…

Road traffic accidents are a leading cause of fatalities worldwide. In the US, human error causes 94% of crashes, resulting in excess of 7,000 pedestrian fatalities and $500 billion in costs annually. Autonomous Vehicles (AVs) with…

Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…

Natural hazards such as hurricanes and floods damage power grid equipment, forcing operators to replan restoration repeatedly as new information becomes available. This paper develops a deep reinforcement learning (DRL) dispatcher that…

Non-terrestrial networks (NTNs) with low-earth orbit (LEO) satellites have been regarded as promising remedies to support global ubiquitous wireless services. Due to the rapid mobility of LEO satellite, inter-beam/satellite handovers happen…

Connected and Automated Hybrid Electric Vehicles have the potential to reduce fuel consumption and travel time in real-world driving conditions. The eco-driving problem seeks to design optimal speed and power usage profiles based upon…

Deep learning models for vision tasks are trained on large datasets under the assumption that there exists a universal representation that can be used to make predictions for all samples. Whereas high complexity models are proven to be…

The potential of artificial upwelling (AU) as a means of lifting nutrient-rich bottom water to the surface, stimulating seaweed growth, and consequently enhancing ocean carbon sequestration, has been gaining increasing attention in recent…

Collision avoidance is a crucial task in vision-guided autonomous navigation. Solutions based on deep reinforcement learning (DRL) has become increasingly popular. In this work, we proposed several novel agent state and reward function…

Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…

Despite significant advancements in Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), their robustness in real-world conditions, particularly under external disturbances, remains insufficiently explored. In this…

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…

The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…

It has been considered that urban air mobility (UAM), also known as drone-taxi or electrical vertical takeoff and landing (eVTOL), will play a key role in future transportation. By putting UAM into practical future transportation, several…

The advent of fifth generation (5G) networks has opened new avenues for enhancing connectivity, particularly in challenging environments like remote areas or disaster-struck regions. Unmanned aerial vehicles (UAVs) have been identified as a…

Maritime autonomous transportation has played a crucial role in the globalization of the world economy. Deep Reinforcement Learning (DRL) has been applied to automatic path planning to simulate vessel collision avoidance situations in open…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particularly in accommodating diverse passenger needs and dynamic…