Related papers: A Scalable Distributed Collision Avoidance Scheme …
For drones, as safety-critical systems, there is an increasing need for onboard detect & avoid (DAA) technology i) to see, sense or detect conflicting traffic or imminent non-cooperative threats due to their high mobility with multiple…
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
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…
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…
Model Predictive Control (MPC) has shown to be a successful method for many applications that require control. Especially in the presence of prediction uncertainty, various types of MPC offer robust or efficient control system behavior. For…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…
This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…
We consider the problem of interaction-aware motion planning for automated vehicles in general traffic situations. We model the interaction between the controlled vehicle and surrounding road users using a generalized potential game, in…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…
Approaches for stochastic nonlinear model predictive control (SNMPC) typically make restrictive assumptions about the system dynamics and rely on approximations to characterize the evolution of the underlying uncertainty distributions. For…
Unmanned aerial vehicles (UAVs) can be deployed to monitor very large areas without the need for network infrastructure. UAVs communicate with each other during flight and exchange information with each other. However, such communication…
Neural networks (NNs) have been shown to learn complex control laws successfully, often with performance advantages or decreased computational cost compared to alternative methods. Neural network controllers (NNCs) are, however, highly…
This paper introduces a Nonlinear Model Predictive Control (N-MPC) framework exploiting a Deep Neural Network for processing onboard-captured depth images for collision avoidance in trajectory-tracking tasks with UAVs. The network is…
In this paper, we consider an unmanned aerial vehicle-enabled interference channel (UAV-IC), where each of the $K$ UAVs communicates with its associated ground terminals (GTs) at the same time and over the same spectrum. To exploit the new…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
In this paper, we investigate the integration of drone identification data (Remote ID) with collision avoidance mechanisms to improve the safety and efficiency of multi-drone operations. We introduce an improved Near Mid-Air Collision…