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This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
Unmanned aerial systems capable of beyond visual line of sight operation can be organized into a top-down hierarchy of layers including flight supervision, command and control, simulation of systems, operating systems, and physical…
Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve the efficiency of autonomous exploration. We propose HPHS,…
The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…
In the current unmanned aircraft systems (UASs) for sensing services, unmanned aerial vehicles (UAVs) transmit their sensory data to terrestrial mobile devices over the unlicensed spectrum. However, the interference from surrounding…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in unknown environments continues to be an important research area as UAVs become more prolific. We define a trajectory generation algorithm for a vehicle in an unknown…
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.…
An ever increasing number of applications can employ aerial unmanned vehicles, or so-called drones, to perform different sensing and possibly also actuation tasks from the air. In some cases, the data that is captured at a given point has…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
Unmanned aerial vehicle (UAV), or drone is increasingly becoming a promising tool in communication system. This report explains the generation details of a dataset which will be used to designing an algorithm for the optimal placement of…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
Unmanned aerial vehicles (UAVs) can enhance the performance of cellular networks, due to their high mobility and efficient deployment. In this paper, we present a first study on how the user mobility affects the UAVs' trajectories of a…
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain redundant information and thus require massive communication…
Traditional search and rescue methods in wilderness areas can be time-consuming and have limited coverage. Drones offer a faster and more flexible solution, but optimizing their search paths is crucial. This paper explores the use of deep…
The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
Unmanned aerial vehicles (UAVs) can provide wireless access services to terrestrial users without geographical limitations and will become an essential part of the future communication system. However, the openness of wireless channels and…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…