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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…
Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…
This paper tackles the optimization of the point spread function (PSF) of unmanned aerial vehicle (UAV)-borne multiple-input multiple-output (MIMO) synthetic aperture radar (SAR) tomography systems. A swarm of UAV-borne SAR systems is…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
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…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
The traditional Artificial Potential Field (APF) method exhibits limitations in its force distribution: excessive attraction when UAVs are far from the target may cause collisions with obstacles, while insufficient attraction near the goal…
While many Particle Swarm Optimization (PSO) algorithms only use fitness to assess the performance of particles, in this work, we adopt Surprisingly Popular Algorithm (SPA) as a complementary metric in addition to fitness. Consequently,…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
Unmanned aerial vehicles (UAVs) can serve as aerial base stations (BSs) to extend the ubiquitous connectivity for ground users (GUs) in the sixth-generation (6G) era. However, it is challenging to cooperatively deploy multiple UAV swarms in…
The smart morphing wing aircraft (SMWA) is a highly adaptable platform that can be widely used for intelligent warfare due to its real-time variable structure. The flexible conformal array (FCA) is a vital detection component of SMWA, when…
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory…
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
This study addresses the optimisation of task allocation for Unmanned Aerial Vehicles (UAVs) within industrial monitoring missions. The proposed methodology integrates a Genetic Algorithms (GA) with a 2-Opt local search technique to obtain…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Efficient and safe navigation of Unmanned Aerial Vehicles (UAVs) is critical for various applications, including combat support, package delivery and Search and Rescue Operations. This paper introduces the Tangent Intersection Guidance…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…