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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…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Providing Internet connectivity to a massive number of Internet-of-things (IoT) objects over the unlicensed spectrum requires: (i) identifying a very large number of narrowband channels in a wideband spectrum and (ii) aggressively reusing…
We consider multiple unmanned aerial vehicles (UAVs) at a common altitude serving as data collectors to a network of IoT devices. First, using a probabilistic line of sight channel model, the optimal assignment of IoT devices to the UAVs is…
In the diverse landscape of 6G networks, where wireless connectivity demands surge and spectrum resources remain limited, flexible spectrum access becomes paramount. The success of crafting such schemes hinges on our ability to accurately…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
With the assistance of device-to-device (D2D) communications, unmanned aerial vehicle (UAV) networks are anticipated to support widespread applications in the fifth generation (5G) and beyond wireless systems, by providing seamless…
The growing number of smart devices supporting bandwidth-intensive and latency-sensitive applications, such as real-time video analytics, smart sensing, Extended Reality (XR), etc., necessitates reliable wireless connectivity in indoor…
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…
Providing reliable cellular connectivity to Unmanned Aerial Vehicles (UAV) is a key challenge, as existing terrestrial networks are deployed mainly for ground-level coverage. The cellular network coverage may be available for a limited…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Unmanned aerial vehicle (UAV) network is a promising technology for assisting Internet-of-Things (IoT), where a UAV can use its limited service coverage to harvest and disseminate data from IoT devices with low transmission abilities. The…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…
This paper presents a wireless data collection framework that employs an unmanned aerial vehicle (UAV) to efficiently gather data from distributed IoT sensors deployed in a large area. Our approach takes into account the non-zero…
Unmanned aerial vehicles (UAVs)-based applications, such as surveillance systems and wireless relays, are attracting increasing attention from academia and industrial fields. The high-performance aerial communication system is one of the…