Related papers: Risk Sensitive Rendezvous Algorithm for Heterogene…
Autonomous uncrewed aerial vehicles (UAVs) can be utilized as aerial relays to serve users far from terrestrial infrastructure. Unfortunately, existing algorithms for aerial relay path planning cannot accommodate general flight constraints…
Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…
Urban Air Mobility (UAM) systems are rapidly emerging as promising solutions to alleviate urban congestion, with path planning becoming a key focus area. Unlike ground transportation, UAM trajectory planning has to prioritize communication…
This paper studies real-time trajectory planning and radio resource allocation for a single uncrewed aerial vehicle (UAV) serving multiple mobile ground users in an urban environment. The downlink system considers heterogeneous user…
Unmanned Aerial Systems (UAS), an integral part of the Advanced Air Mobility (AAM) vision, are capable of performing a wide spectrum of tasks in urban environments. The societal integration of UAS is a pivotal challenge, as these systems…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Despite the prevalence of wireless connectivity in urban areas around the globe, there remain numerous and diverse situations where connectivity is insufficient or unavailable. To address this, we introduce mobile wireless infrastructure on…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial 3D printing. The proposed framework formulates an…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
We propose a model for optimizing the last-mile delivery of n packages, from a distribution center to their final recipients, using a strategy that combines the use of ride-sharing platforms (e.g., Uber or Lyft) with traditional in-house…
In this paper, we present an approach to optimizing the last-mile delivery route of a truck using coordination with unmanned aerial vehicles (UAVs). First, a traveling salesman problem is formulated to determine the truck's route. Then, a…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Unmanned aerial vehicles (UAVs) can be deployed to monitor very large areas without the need for network infrastructure. UAVs communicate with each other during flight and exchange information with each other. However, such communication…
Existing UAS Traffic Management (UTM) frameworks designate preplanned flight paths to uncrewed aircraft systems (UAS), enabling the UAS to deliver payloads. However, with increasing delivery demand between the source-destination pairs in…
This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
Hazardous environments such as chemical spills, radiological zones, and bio-contaminated sites pose significant threats to human safety and public infrastructure. Rapid and reliable hazard mitigation in these settings often unsafe for…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…