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Anomaly detection plays a crucial role in industrial settings, particularly in maintaining the reliability and optimal performance of cooling systems. Traditional anomaly detection methods often face challenges in handling diverse data…

We show the first asymptotically efficient constructions in the so-called "noncooperative planar tile assembly" model. Algorithmic self-assembly is the study of the local, distributed, asynchronous algorithms ran by molecules to…

Geo-localization is an essential component of Unmanned Aerial Vehicle (UAV) navigation systems to ensure precise absolute self-localization in outdoor environments. To address the challenges of GPS signal interruptions or low illumination,…

This paper presents a system for autonomous cooperative wall building with a team of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge 2 of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. The…

In this paper we investigate the computational power of the polygonal tile assembly model (polygonal TAM) at temperature 1, i.e. in non-cooperative systems. The polygonal TAM is an extension of Winfree's abstract tile assembly model (aTAM)…

Simulated annealing is an effective and general means of optimization. It is in fact inspired by metallurgy, where the temperature of a material determines its behavior in thermodynamics. Likewise, in simulated annealing, the actions that…

This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specialized UAVs were developed for the task: (i) a brick-carrier…

We study the problem of planning a tour for an energy-limited Unmanned Aerial Vehicle (UAV) to visit a set of sites in the least amount of time. We envision scenarios where the UAV can be recharged along the way either by landing on…

Sequence-directed assembly processes - such as protein folding - allow the assembly of a large number of structures with high accuracy from only a small handful of fundamental building blocks. We aim to explore how efficiently sequence…

Unmanned Aerial Vehicle (UAV) networks have emerged as a promising technique to rapidly provide wireless coverage to a geographical area, where a flying UAV can be fast deployed to serve as cell site. Existing work on UAV-enabled wireless…

In commercial unmanned aerial vehicle (UAV) applications, one of the main restrictions is UAVs' limited battery endurance when executing persistent tasks. With the mature of wireless power transfer (WPT) technologies, by leveraging ground…

We study the enumeration of answers to Unions of Conjunctive Queries (UCQs) with optimal time guarantees. More precisely, we wish to identify the queries that can be solved with linear preprocessing time and constant delay. Despite the…

In this paper we explore the power of tile self-assembly models that extend the well-studied abstract Tile Assembly Model (aTAM) by permitting tiles of shapes beyond unit squares. Our main result shows the surprising fact that any aTAM…

Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…

Safety is the primary concern when it comes to air traffic. In-flight safety between Unmanned Aircraft Vehicles (UAVs) is ensured through pairwise separation minima, utilizing conflict detection and resolution methods. Existing methods…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…

Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…

An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…

Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…