Related papers: Dynamic Control Allocation between Onboard and Del…
Self-navigation, referred as the capability of automatically reaching the goal while avoiding collisions with obstacles, is a fundamental skill required for mobile robots. Recently, deep reinforcement learning (DRL) has shown great…
Predicting the outcomes of integrating Unmanned Aerial Systems (UAS) into the National Airspace System (NAS) is a complex problem which is required to be addressed by simulation studies before allowing the routine access of UAS into the…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable framework for generating collision-free, dynamically…
We first define appropriate state representation and action space, and then design an adjustment mechanism based on the actions selected by the intelligent agent. The adjustment mechanism outputs the next state and reward value of the…
Several solutions have been proposed in the literature to address the Unmanned Aerial Vehicles (UAVs) collision avoidance problem. Most of these solutions consider that the ground controller system (GCS) determines the path of a UAV before…
Small Unmanned Aircraft Systems (sUAS) will be an important component of the smart city and intelligent transportation environments of the near future. The demand for sUAS related applications, such as commercial delivery and land…
The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
The proliferation of unmanned aircraft systems (UAS) has caused airspace regulation authorities to examine the interoperability of these aircraft with collision avoidance systems initially designed for large transport category aircraft.…
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…
In standard Reinforcement Learning (RL) settings, the interaction between the agent and the environment is typically modeled as a Markov Decision Process (MDP), which assumes that the agent observes the system state instantaneously, selects…
In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
In the current unmanned aircraft systems (UASs) for sensing services, unmanned aerial vehicles (UAVs) transmit their sensory data to terrestrial mobile devices over the unlicensed spectrum. However, the interference from surrounding…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate…
With the rapid development of unmanned aerial vehicles (UAVs), it is paramount to ensure safe and efficient operations in open airspaces. The remote identification (Remote ID) is deemed an effective real-time UAV monitoring system by the…
The rapid development of artificial intelligence (AI) has unearthed the potential to assist humans in controlling advanced technologies. Shared autonomy (SA) facilitates control by combining inputs from a human pilot and an AI copilot. In…