相关论文: Risk-Aware Trajectory Optimization and Control for…

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…

The robustness of Unmanned Surface Vehicles (USV) is crucial when facing unknown and complex marine environments, especially when heteroscedastic observational noise poses significant challenges to sensor-based navigation tasks. Recently,…

In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…

Hazardous environments such as chemical spills, radiological zones, and bio-contaminated sites pose significant threats to human safety and public infrastructure. Rapid and reliable hazard mitigation in these settings often unsafe for…

The exploration of under-ice environments presents unique challenges due to limited access for scientific research. This report investigates the potential of deploying a fully actuated Remotely Operated Vehicle (ROV) for shallow area…

Fixed-wind unmanned aerial vehicles (UAVs) are essential for low cost aerial surveillance and mapping applications in remote regions. One of the main limitations of UAVs is limited fuel capacity and hence requires periodic refueling to…

At shipping ports, some repetitive maneuvering tasks such as entering/leaving port, transporting goods inside it or just making surveillance activities, can be efficiently and quickly carried out by a domestic pilot according to his…

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…

In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…

Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time-varying and uncertain. The USV is a 4.3 meter long, 150…

An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…

Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has demonstrated the feasibility of containing and cleaning…

This paper investigates underwater cooperative target detection using autonomous underwater vehicles (AUVs), with a focus on the critical trade-off between cooperation efficiency and communication covertness. To tackle this challenge, we…

This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…

This paper considers risk-sensitive model predictive control for stochastic systems with a decision-dependent distribution. This class of systems is commonly found in human-robot interaction scenarios. We derive computationally tractable…

Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…

Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…