Related papers: Safety Constrained Multi-UAV Time Coordination: A …
Fighting wildfires is a precarious task, imperiling the lives of engaging firefighters and those who reside in the fire's path. Firefighters need online and dynamic observation of the firefront to anticipate a wildfire's unknown…
In multi-target tracking, sensor control involves dynamically configuring sensors to achieve improved tracking performance. Many of these techniques focus on sensors with memoryless states (e.g., waveform adaptation, beam scheduling, and…
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space. We consider the case where the aerial and ground operations…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…
This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…
Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
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…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
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…