4 papers
RSPECT: Robust and Scalable Planner for Energy-Aware Coordination of UAV-UGV Teams in Aerial Monitoring
Cahit Ikbal Er, Amin Kashiri, Yasin Yazicioglu
We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-ho…
DM-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation
Amin Kashiri, Atharva Jamsandekar, Yasin YazıcıoÄlu +1
We present DM-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setti…
PRO-SPECT: Probabilistically Safe Scalable Planning for Energy-Aware Coordinated UAV-UGV Teams in Stochastic Environments
Roger Fowler, Cahit Ikbal Er, Benjamin Johnsenberg +1
We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) team operating in a stochastic environment. The UAV must visit a set of air…
Energy-Aware Collaborative Exploration for a UAV-UGV Team
Cahit Ikbal Er, Saikiran Juttu, Yasin Yazicioglu
We present an energy-aware collaborative exploration framework for a UAV-UGV team operating in unknown environments, where the UAV's energy constraint is modeled as a maximum fligh…