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Federated learning (FL) has become a transformative paradigm for distributed machine learning across wireless networks. However, the performance of FL is often hindered by the unreliable communication links between resource-constrained…
The performance optimization of UAV communication systems requires the joint design of UAV trajectory and communication efficiently. To tackle the challenge of infinite design variables arising from the continuous-time UAV trajectory…
By fully exploiting the mobility of unmanned aerial vehicles (UAVs), UAV-based aerial base stations (BSs) can move closer to ground users to achieve better communication conditions. In this paper, we consider a scenario where an aerial BS…
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
Recently, the integration of unmanned aerial vehicle (UAV) and visible light communication (VLC) technologies has emerged as a promising solution to offer flexible communication and efficient lighting. This letter investigates the…
In this letter, we study a buffer-aided Internet of unmanned aerial vehicles (UAVs) in which a UAV performs data sensing, stores the data, and sends it to the base station (BS) in cellular networks. To minimize the overall completion time…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
Advances in the Internet of Things are revolutionizing data acquisition, enhancing artificial intelligence and quality of service. Unmanned Aerial Vehicles (UAVs) provide an efficient data-gathering solution across varied environments. This…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
Trajectory optimization is an important tool for control and planning of complex, underactuated robots, and has shown impressive results in real world robotic tasks. However, in applications where the cost function to be optimized is…
Unmanned aerial vehicles (UAVs), especially fixed-wing ones that withstand strong winds, have great potential for oceanic exploration and research. This paper studies a UAV-aided maritime data collection system with a fixed-wing UAV…
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…
Unmanned aerial vehicles (UAVs) are usually dispatched as mobile sinks to assist data collection in large-scale wireless sensor networks (WSNs). However, when considering the limitations of UAV's mobility and communication capabilities in a…
Constrained quasiconvex optimization problems appear in many fields, such as economics, engineering, and management science. In particular, fractional programming, which models ratio indicators such as the profit/cost ratio as fractional…
This paper considers the problem of online trajectory design under time-varying environments. We formulate the general trajectory optimization problem within the framework of time-varying constrained convex optimization and proposed a novel…