Related papers: An informative path planning framework for UAV-bas…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
Unmanned Aerial Vehicles (UAVs) have been implemented for environmental monitoring by using their capabilities of mobile sensing, autonomous navigation, and remote operation. However, in real-world applications, the limitations of on-board…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
Radio maps are emerging as a popular means to endow next-generation wireless communications with situational awareness. In particular, radio maps are expected to play a central role in unmanned aerial vehicle (UAV) communications since they…
In this work uses innovative multi-channel load-sensing techniques to deploy unmanned aerial vehicles (UAVs) for surveillance. The research aims to improve the quality of data transmission methods and improve the efficiency and reliability…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…
This paper presents an adaptive path planner for object search in agricultural fields using UAVs. The path planner uses a high-altitude coverage flight path and plans additional low-altitude inspections when the detection network is…
Unmanned Aerial Vehicles (UAVs) are emerging as very important tools in search and rescue (SAR) missions at sea, enabling swift and efficient deployment for locating individuals or vessels in distress. The successful execution of these…
Harvesting data from distributed Internet of Things (IoT) devices with multiple autonomous unmanned aerial vehicles (UAVs) is a challenging problem requiring flexible path planning methods. We propose a multi-agent reinforcement learning…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide…
We consider the informative path planning ($\mathtt{IPP}$) problem in which a robot interacts with an uncertain environment and gathers information by visiting locations. The goal is to minimize its expected travel cost to cover a given…
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…
Informative path planning (IPP) applied to bathymetric mapping allows AUVs to focus on feature-rich areas to quickly reduce uncertainty and increase mapping efficiency. Existing methods based on Bayesian optimization (BO) over Gaussian…