相关论文: Deployment and Development of a Cognitive Teleorea…
Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…
We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. Traditional exploration methods often take inefficient routes…
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…
Intelligent omni-surface (IOS) is a promising technique to enhance the capacity of wireless networks, by reflecting and refracting the incident signal simultaneously. Traditional IOS configuration schemes, relying on all sub-channels'…
We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setting, decentralization implies operation without a central…
Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots. Recent deep reinforcement learning approaches show promising results to solve the problem, but it is not solved yet, as they typically…
The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater…
Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…
The increasing adoption of UAVs with advanced sensors and GPU-accelerated edge computing has enabled real-time AI-driven applications in fields such as precision agriculture, wildfire monitoring, and environmental conservation. However,…
The quest for fully autonomous vehicles (AVs) capable of navigating complex real-world scenarios with human-like understanding and responsiveness. In this paper, we introduce Dolphins, a novel vision-language model architected to imbibe…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The…
An intent modelling and inference framework is presented to assist the defense planning for protecting a geo-fence against unauthorized flights. First, a novel mathematical definition for the intent of an uncrewed aircraft system (UAS) is…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
Human-AI joint planning in Unmanned Aerial Vehicles (UAVs) typically relies on control handover when facing environmental uncertainties, which is often inefficient and cognitively demanding for non-expert operators. To address this, we…
Underwater gliders are widely utilized for ocean sampling, surveillance, and other various oceanic applications. In the context of complex ocean environments, gliders may yield poor navigation performance due to strong ocean currents, thus…
In this paper, emerging deep learning techniques are leveraged to deal with Mars visual navigation problem. Specifically, to achieve precise landing and autonomous navigation, a novel deep neural network architecture with double branches…
We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…