相关论文: NemeSys: Toward Online Underwater Exploration with…

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…

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…

Autonomous Underwater vehicles must operate in strong currents, limited acoustic bandwidth, and persistent sensing requirements where conventional swarm optimisation methods are unreliable. This paper formulates an irreversible hydrodynamic…

Controller tuning and parameter optimization are crucial in system design to improve closed-loop system performance. Bayesian optimization has been established as an efficient model-free controller tuning and adaptation method. However,…

As humanity prepares for new missions to the Moon and Mars, astronauts will need to operate with greater autonomy, given the communication delays that make real-time support from Earth difficult. For instance, messages between Mars and…

This paper investigates the robust and secure task transmission and computation scheme in multi-antenna unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) networks, where the UAV is dual-function, i.e., aerial MEC and aerial…

A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…

As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a…

Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…

The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…

This paper explores the design and development of a language-based interface for dynamic mission programming of autonomous underwater vehicles (AUVs). The proposed `Word2Wave' (W2W) framework enables interactive programming and parameter…

Recently unmanned aerial vehicles (UAV) have been widely deployed in various real-world scenarios such as disaster rescue and package delivery. Many of these working environments are unstructured with uncertain and dynamic obstacles. UAV…

Underwater vehicles are utilized in various applications including underwater data-collection missions. The tethered connection constrains the mission both in distance traveled and number of vehicles that can run in the same area, while the…

This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…

In this paper, we consider deploying multiple Unmanned Aerial Vehicles (UAVs) to enhance the computation service of Mobile Edge Computing (MEC) through collaborative computation among UAVs. In particular, the tasks of different types and…

In recent years, unmanned aerial vehicles (UAVs) assisted mobile edge computing systems have been exploited by researchers as a promising solution for providing computation services to mobile users outside of terrestrial infrastructure…

Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

We present RENEW, a global path planner for Autonomous Surface Vehicle (ASV) in dynamic environments with external disturbances (e.g., water currents). RENEW introduces a unified risk- and energy-aware strategy that ensures safety by…

Unmanned Aerial Vehicles (UAVs) in disaster response require complex, queryable intelligence that onboard CNNs cannot provide. While Vision-Language Models (VLMs) offer this semantic reasoning, their high resource demands make on-device…