Related papers: Bird Flocking Inspired Control Strategy for Multi-…
Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this…
Thermal soaring enables birds to perform cost-efficient flights during foraging or migration trips. Yet, although all soaring birds exploit vertical winds effectively, this group contains species that vary strongly in their morphologies.…
To cope with the current pandemic situation and reinstate pseudo-normal daily life, several measures have been deployed and maintained, such as mask wearing, social distancing, hands sanitizing, etc. Since outdoor cultural events, concerts,…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
This paper considers a multiagent, connected, robotic fleet where the primary functionality of the agents is sensing. A distributed multi-sensor control strategy maximizes the value of the collective sensing capability of the fleet, using…
In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…
The use of Unmanned Aerial Vehicles (UAVs) in Data transport has attracted a lot of attention and applications, as a modern traffic engineering technique used in data sensing, transport, and delivery to where infrastructure is available for…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
Unmanned aerial vehicles (UAVs) mobility enables flexible and customized federated learning (FL) at the network edge. However, the underlying uncertainties in the aerial-terrestrial wireless channel may lead to a biased FL model. In…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
This paper investigates the semantic communication and cooperative tracking control for an UAV swarm comprising a leader UAV and a group of follower UAVs, all interconnected via unreliable wireless multiple-input-multiple-output (MIMO)…
Individual agents in natural systems like flocks of birds or schools of fish display a remarkable ability to coordinate and communicate in local groups and execute a variety of tasks efficiently. Emulating such natural systems into drone…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
Tracking movement of mobile nodes has received significant scientific and commercial interest, but long term tracking of resource-constrained mobile nodes remains challenging due to the high energy consumption of satellite receivers.…
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…
In the past decade, unmanned aerial vehicles (UAVs) have been widely used in various civilian applications, most of which only require a single UAV. In the near future, it is expected that more and more applications will be enabled by the…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
Owing to the controlling flexibility and cost-effectiveness, fixed-wing unmanned aerial vehicles (UAVs) are expected to serve as flying base stations (BSs) in the air-ground integrated network. By exploiting the mobility of UAVs,…
This study delves into the flight behaviors of Budgerigars (Melopsittacus undulatus) to gain insights into their flight trajectories and movements. Using 3D reconstruction from stereo video camera recordings, we closely examine the velocity…