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Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…
In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…
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 addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…