Related papers: Communication-Aware Energy Efficient Trajectory Pl…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…

Communication energy in a wireless network of mobile autonomous agents should be considered as the sum of transmission energy and propulsion energy used to facilitate the transfer of information. Accordingly, communication-theoretic and…

The advent of next-generation wireless communication systems heralds an era characterized by high data rates, low latency, massive connectivity, and superior energy efficiency. These systems necessitate innovative and adaptive strategies…

Current radio systems are currently optimized for capacity and range. However, certain applications of wireless systems require fast and reliable communication over short distances. The challenge of these systems is to communicate with a…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

In this paper, we consider a cellular-connected unmanned aerial vehicle (UAV) with an information collection and transmission mission for multiple ground targets. Specifically, the UAV is required to collect a fixed amount of information of…

We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor…

Collaborative Perception (CP) has shown great potential to achieve more holistic and reliable environmental perception in intelligent unmanned systems (IUSs). However, implementing CP still faces key challenges due to the characteristics of…

When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…

Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in search and rescue missions where communication-denied…

In this paper, we propose an efficient beam training technique for millimeter-wave (mmWave) communications. When some mobile users are under high mobility, the beam training should be performed frequently to ensure the accurate acquisition…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…

Aerial drones offer a distinct potential to reduce the delivery time and energy consumption for the delivery of time-sensitive and small products. However, there is still a need in the relevant industry to understand the performance of…

It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…

The communication energy in a wireless network of mobile autonomous agents should be defined to include the propulsion energy as well as the transmission energy used to facilitate information transfer. We therefore develop…

On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…

Unmanned aerial vehicles (UAVs) are anticipated to be widely deployed in future wireless communications, due to their advantages of high mobility and easy deployment. However, the broadcast nature of air-to-ground line-of-sight wireless…

We present a study of the application of a variant of a recently introduced heuristic algorithm for the optimization of transport routes on complex networks to the problem of finding the optimal routes of communication between nodes on…