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We study the problem of planning a tour for an energy-limited Unmanned Aerial Vehicle (UAV) to visit a set of sites in the least amount of time. We envision scenarios where the UAV can be recharged along the way either by landing on…
In this work, performance of a multi-antenna multiuser unmanned aerial vehicle (UAV) assisted terrestrial-satellite communication system over mixed free space optics (FSO)/ radio frequency (RF) channels is analyzed. Downlink transmission…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
A smart grid is a widely distributed engineering system with overhead transmission lines. Physical damage to these power lines, from natural calamities or technical failures, will disrupt the functional integrity of the grid. To ensure the…
Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation problem in such environments under no prior knowledge of the…
Recently, Unmanned Aerial Vehicles (UAVs) have shown impressive performance in many critical applications, such as surveillance, search and rescue operations, environmental monitoring, etc. In many of these applications, the UAVs capture…
This study proposes a new Gaussian Mixture Filter (GMF) to improve the estimation performance for the autonomous robotic radio signal source search and localization problem in unknown environments. The proposed filter is first tested with a…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…
Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Algorithms for mutual interference mitigation and object parameter estimation are a key enabler for automotive applications of frequency-modulated continuous wave (FMCW) radar. In this paper, we introduce a signal separation method to…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
Unmanned Aerial Vehicles (UAVs) are increasingly essential in various fields such as surveillance, reconnaissance, and telecommunications. This study aims to develop a learning algorithm for the path planning of UAV wireless communication…
Airborne mobile Integrated Sensing and Communication (ISAC) base stations have garnered significant attention recently, with ISAC technology being a crucial application for 6G networks. Since ISAC can sense potential mobile communication…
Low Probability of Detection (LPD) communication aims to obscure the very presence of radio frequency (RF) signals, going beyond just hiding the content of the communication. However, the use of Unmanned Aerial Vehicles (UAVs) introduces a…
We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual…
The low-altitude economy (LAE) plays an indispensable role in cargo transportation, healthcare, infrastructure inspection, and especially post-disaster communication. Specifically, unmanned aerial vehicles (UAVs), as one of the core…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Accurate real-time waypoints estimation for the UAV-based online Terrain Following during wildfire patrol missions is critical to ensuring flight safety and enabling wildfire detection. However, existing real-time filtering algorithms…