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Over the recent years, there has been an explosion of studies on autonomous vehicles. Many collected large amount of data from human drivers. However, compared to the tedious data collection approach, building a virtual simulation of…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
Given the spatial heterogeneity of land use patterns in most cities, large-scale UAM deployments will likely focus on specific areas, such as intertransfer traffic between suburbs and city centers. However, large-scale UAM operations…
Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domains. Our key insight is that an understanding of the inherent…
Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This work presents an improved deep…
Connectivity and automation in vehicles provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…
Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…
In this paper, we consider an unmanned aerial vehicle (UAV)-enabled emergency communication system, which establishes temporary communication link with users equipment (UEs) in a typical disaster environment with mountainous forest and…
We consider unmanned aerial vehicle (UAV)-assisted wireless communication employing UAVs as relay nodes to increase the throughput between a pair of transmitter and receiver. We focus on developing effective methods to position the UAV(s)…
This paper studies collective motion optimization of a fleet of UAVs flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body, thus, UAV coordination is defined by a homeomorphic…
This article presents an analysis of current state-of-the-art sensors and how these sensors work with several mapping algorithms for UAV (Unmanned Aerial Vehicle) applications, focusing on low-altitude and high-speed scenarios. A new…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…