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Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…
With the number of small Unmanned Aircraft Systems (sUAS) in the national airspace projected to increase in the next few years, there is growing interest in a traffic management system capable of handling the demands of this aviation…
Urban aerial mobility is rapidly expanding, specifically on-demand Unmanned Aerial Vehicle (UAV) delivery services in urban environments. This necessitates management of the low-altitude airspace network to ensure smooth and safe traffic…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…
Distributed Acoustic Sensing (DAS) that transforms city-wide fiber-optic cables into a large-scale strain sensing array has shown the potential to revolutionize urban traffic monitoring by providing a fine-grained, scalable, and…
Connected and automated vehicles (CAVs) are expected to reshape traffic flow dynamics and present new challenges and opportunities for traffic flow modeling. While numerous studies have proposed optimal modeling and control strategies for…
Traffic Management in Advanced Aerial Mobility (AAM) inherits many elements of conventional Air Traffic Management (ATM), but brings new complexities and challenges of its own. One of its ways of guaranteeing separation is the use of…
Unmanned aerial vehicles (UAVs) are gaining immense attention due to their potential to revolutionize various businesses and industries. However, the adoption of UAV-assisted applications will strongly rely on the provision of reliable…
In this paper, we introduce a unified framework for studying various cloud traffic management problems, ranging from geographical load balancing to backbone traffic engineering. We first abstract these real-world problems as a…
Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging because accelerations are not directly actuated and must be…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
This paper addresses the problem of a boundary control design for traffic evolving in a large-scale urban network. The traffic state is described on a macroscopic scale and corresponds to the vehicle density, whose dynamics are governed by…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces…