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The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
Urban air mobility (UAM), a transformative concept for the transport of passengers and cargo, faces several integration challenges in complex urban environments. Community acceptance of aircraft noise is among the most noticeable of these…
Large-scale UAV switching formation tracking control has been widely applied in many fields such as search and rescue, cooperative transportation, and UAV light shows. In order to optimize the control performance and reduce the…
Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low…
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…
Urban air mobility (UAM) has the potential to revolutionize transportation in metropolitan areas, providing a new mode of transportation that could alleviate congestion and improve accessibility. However, the integration of UAM into…
Urban Air Mobility (UAM) promises a new dimension to decongested, safe, and fast travel in urban and suburban hubs. These UAM aircraft are conceived to operate from small airports called vertiports each comprising multiple take-off/landing…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…
In this article, we study unbalanced optimal transport (UOT) and establish a control-theoretic dynamical extension, which we call the unbalanced density control (UDC), for a class of Gaussian reference measures. In the static setting, we…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
In this work, we introduce a microscopic traffic flow model called Scalar Capacity Model (SCM) which can be used to study the formation of traffic on an airway link for autonomous Unmanned Aerial Vehicles (UAV) as well as for the ground…
Urban air mobility (UAM) is a concept for creating an airborne transportation system that operates in urban settings with an on-board pilot and/or remote pilot in command (RPIC), or with a fully autonomous architecture. Although the…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
Low-altitude urban flight planning for small Unmanned Aircraft Systems (UAS) requires accurate vehicle, environment maps, and risk models to assure flight plans consider the urban landscape as well as airspace constraints. This paper…
Urban air mobility (UAM) has the potential to revolutionize our daily transportation, offering rapid and efficient deliveries of passengers and cargo between dedicated locations within and around the urban environment. Before the…
Conventional air traffic control divides airspace into specific regions, creating a scaling bottleneck as traffic grows. Choosing how to partition airspace is not straightforward because grid size affects workload, handoff frequency, and…
We present a fluid-dynamic model for the simulation of urban traffic networks with road sections of different lengths and capacities. The model allows one to efficiently simulate the transitions between free and congested traffic, taking…