Related papers: Risk Sensitive Rendezvous Algorithm for Heterogene…
This paper presents a formulation for deterministically calculating optimized paths for a multiagent system consisting of heterogeneous vehicles. The key idea is the calculation of the shortest time for each agent to reach every grid point…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
Two mobile agents (robots) have to meet in an a priori unknown bounded terrain modeled as a polygon, possibly with polygonal obstacles. Agents are modeled as points, and each of them is equipped with a compass. Compasses of agents may be…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
Advances in the Internet of Things are revolutionizing data acquisition, enhancing artificial intelligence and quality of service. Unmanned Aerial Vehicles (UAVs) provide an efficient data-gathering solution across varied environments. This…
As urban populations continue to grow, cities face numerous challenges in managing parking and determining occupancy. This issue is particularly pronounced in university campuses, where students need to find vacant parking spots quickly and…
Public transportation systems are experiencing an increase in commuter traffic. This increase underscores the need for resilience strategies to manage unexpected service disruptions, ensuring rapid and effective responses that minimize…
This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body and modeled with a nonlinear dynamics. The urban area is…
Urban mobility systems face persistent challenges of congestion, underutilized vehicles, and rising emissions driven by private point-to-point commuting. Although ride-sharing platforms exist, their profit-driven incentive structures often…
The usage of Reconfigurable Intelligent Surfaces (RIS) in conjunction with Unmanned Ariel Vehicles (UAVs) is being investigated as a way to provide energy-efficient communication to ground users in dense urban areas. In this paper, we…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…
Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…
Autonomous mobile agents often operate in hazardous environments, necessitating an awareness of safety. These agents can have non-linear, stochastic dynamics that must be considered during planning to guarantee bounded risk. Most state of…
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…
In intelligent low-altitude networks, integrating monitoring tasks into communication unmanned aerial vehicles (UAVs) can consume resources and increase handoff latency for communication links. To address this challenge, we propose a…
This paper aims to enhance the physical layer security against potential internal eavesdroppings by exploiting the maneuverability of an unmanned aerial vehicle (UAV). We consider a scenario where two receivers with different security…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…