Related papers: Multiobjective Tactical Planning under Uncertainty…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…
In the vision of urban air mobility, air transport systems serve the demands of urban communities by routing flight traffic in networks formed by vertiports and flight corridors. We develop a routing algorithm to ensure that the air traffic…
Urban Air Mobility (UAM) poses unprecedented traffic coordination challenges, especially with increasing UAV densities in dense urban corridors. This paper introduces a mathematical model using a control algorithm to optimize an Edge…
Urban Air Mobility (UAM) offers a solution to current traffic congestion by using electric Vertical Takeoff and Landing (eVTOL) vehicles to provide on-demand air mobility in urban areas. Effective traffic management is crucial for efficient…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
The booming air transportation industry inevitably burdens air traffic controllers' workload, causing unexpected human factor-related incidents. Current air traffic control systems fail to consider spoken instructions for traffic…
We present a trajectory-based optimization framework for arrival sequencing and scheduling in the terminal maneuvering area (TMA). Unlike node-link scheduling models that reduce trajectories to time-delay variables, the proposed method…
Strategic pre-flight functions focus on the planning and deconfliction of routes for aircraft systems. The urban air mobility concept calls for higher levels of autonomy with onboard and en route functions but also strategic and pre-flight…
We propose Occupancy Flow Fields, a new representation for motion forecasting of multiple agents, an important task in autonomous driving. Our representation is a spatio-temporal grid with each grid cell containing both the probability of…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Air Navigation Service Providers (ANSP) worldwide have been making a considerable effort for the development of a better method to measure and predict aircraft counts within a particular airspace, also referred to as airspace density. An…
Advanced Air Mobility (AAM) operations are expected to transform air transportation while challenging current air traffic management practices. By introducing a novel market-based mechanism, we address the problem of on-demand allocation of…
Classical deterministic optimal control problems assume full information about the controlled process. The theory of control for general partially-observable processes is powerful, but the methods are computationally expensive and typically…
Timely transportation of organs, patients, and medical supplies is critical to modern healthcare, particularly in emergencies and transplant scenarios where even short delays can severely impact outcomes. Traditional ground-based vehicles…
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
The evolution of 5G and Beyond networks has enabled new applications with stringent end-to-end latency requirements, but providing reliable low-latency service with high throughput over public wireless networks is still a significant…