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This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…

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…

Due to recent booming of UAVs technologies, these are being used in many fields involving complex tasks. Some of them involve a high risk to the vehicle driver, such as fire monitoring and rescue tasks, which make UAVs excellent for…

In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…

This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…

In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…

The capture of flying MAVs (micro aerial vehicles) has garnered increasing research attention due to its intriguing challenges and promising applications. Despite recent advancements, a key limitation of existing work is that capture…

Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…

Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…

Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from signal temporal logic (STL)…

Efficient path planning for unmanned aerial vehicles (UAVs) is crucial in remote sensing and information collection. As task scales expand, the cooperative deployment of multiple UAVs significantly improves information collection…

This paper introduces a wall construction planner for Unmanned Aerial Vehicles (UAVs), which uses a Greedy Randomized Adaptive Search Procedure (GRASP) metaheuristic to generate near-time-optimal building plans for even large walls within…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…

Vertical Take-Off and Landing (VTOL) vehicles are gaining traction in both the delivery drone market and passenger transportation, driving the development of Urban Air Mobility (UAM) systems. UAM seeks to alleviate road congestion in dense…

Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…

Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…

Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…

Unmanned Aerial Vehicles (UAVs), although adept at aerial surveillance, are often constrained by limited battery capacity. By refueling on slow-moving Unmanned Ground Vehicles (UGVs), their operational endurance can be significantly…