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Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…

Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…

Four-wheel Independent Steering (4WIS) vehicles have attracted increasing attention for their superior maneuverability. Human drivers typically choose to cross or drive over the low-profile obstacles (e.g., plastic bags) to efficiently…

We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…

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…

Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…

Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…

This article introduces a five-tiered route planner for accessing multiple nodes with multiple autonomous underwater vehicles (AUVs) that enables efficient task completion in stochastic ocean environments. First, the pre-planning tier…

In this paper we study the impact of unmanned aerial vehicles (UAVs) trajectories on terrestrial users' spectral efficiency (SE). Assuming a strong line of sight path to the users, the distance from all users to all UAVs influence the…

Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…

Off-road autonomy validation presents unique challenges due to the unpredictable and dynamic nature of off-road environments. Traditional methods focusing on sequentially sweeping across the parameter space for variability analysis struggle…

Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…

We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…

Low speed does not always guarantee safety in off-road driving. For instance, crossing a ditch may be risky at a low speed due to the risk of getting stuck, yet safe at a higher speed with a controlled, accelerated jump. Achieving such…

An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…

Occupancy grid maps (OGMs) are fundamental to most systems for autonomous robotic navigation. However, CPU-based implementations struggle to keep up with data rates from modern 3D lidar sensors, and provide little capacity for modern…

In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…

In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…