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The market size of Unmanned Aerial Vehicles (UAVs, a.k.a drones) can reach up to 10% of the global market value. In particular, drone delivery is one of the most attractive applications. The growing number of drones requires appropriate…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Remote monitoring of drones has become a global objective due to emerging applications in national security and managing aerial delivery traffic. Despite their relatively small size, drones can carry significant payloads, which require…
We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary modes of transit en route to their own destinations. Such…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Despite significant progress, the deployment of UAV technology in commercial and civil applications is still lagging. This is essentially due to the risks associated with drone flights and the lack of coordinated technologies that would…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
In this paper, the deployment of drone base stations to provide higher performance in the cellular networks is analyzed. In particular, we investigate a new mobility model for drone base stations where they can move freely in the network,…
Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
Unmanned Aerial Vehicles (UAVs) have drastically gained popularity in various Intelligent Transportation System (ITS) applications to improve the safety and efficiency of transportation systems. In this context, the combination of ground…
With the recent technological innovation, unmanned aerial vehicles, known as drones, have found numerous applications including package and parcel delivery for shippers. Drone delivery offers benefits over conventional ground-based vehicle…
Drone light shows have emerged as a popular form of entertainment in recent years. However, several high-profile incidents involving large-scale drone failures -- where multiple drones simultaneously fall from the sky -- have raised safety…
This paper proposes a novel freight multimodal transport problem with buses and drones, where buses are responsible for transporting parcels to lockers at bus stops for storage, while drones are used to deliver each parcel from the locker…
Combining an energy-efficient drone with a high-capacity truck for last-mile package delivery can benefit operators and customers by reducing delivery times and environmental impact. However, directly integrating drone flight dynamics into…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…