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The application domains of civilian unmanned aerial systems (UASs) include agriculture, exploration, transportation, and entertainment. The expected growth of the UAS industry brings along new challenges: Unmanned aerial vehicle (UAV)…

Urban Air Mobility (UAM) has emerged as a promising solution to alleviate urban congestion and transportation challenges. Nevertheless, the noise generated by eVTOL aircrafts poses a significant barrier to public acceptance and regulatory…

Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…

A significant challenge in estimating operational feasibility of Urban Air Mobility (UAM) missions lies in understanding how choices in design impact the performance of a complex system-of-systems. This work examines the ability of the UAM…

In this paper, we present an approach to optimizing the last-mile delivery route of a truck using coordination with unmanned aerial vehicles (UAVs). First, a traveling salesman problem is formulated to determine the truck's route. Then, a…

A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…

Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…

Over-the-air computation (AirComp) seamlessly integrates communication and computation by exploiting the waveform superposition property of multiple-access channels. Different from the existing works that focus on transceiver design of…

Proliferation of new classes of airspace participants, including uncrewed and advanced aerial mobility vehicles, necessitates the development and deployment of novel airspace management solutions, such as the Unmanned Traffic Management…

Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…

This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…

In this article, we study unbalanced optimal transport (UOT) and establish a control-theoretic dynamical extension, which we call the unbalanced density control (UDC), for a class of Gaussian reference measures. In the static setting, we…

Urban air mobility (UAM) has the potential to revolutionize transportation in metropolitan areas, providing a new mode of transportation that could alleviate congestion and improve accessibility. However, the integration of UAM into…

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…

This paper presents a method for aerial manipulator end-effector trajectory tracking by encompassing dynamics of the Unmanned Aerial Vehicle (UAV) and null space of the manipulator attached to it in the motion planning procedure. The…

As part of newly developing aviation markets, fixed-wing Uncrewed Aircraft Systems (UAS) are projected to impact airspace systems and conventional air traffic in the future. The initial introduction of fixed-wing cargo UAS for regional…

This paper studies the problem of safe humanuncrewed aerial system (UAS) collaboration in a shared work environment. By considering human and UAS as co-workers, we use Petri Nets to abstractly model evolution of shared tasks assigned to…

Employing Unmanned Aircraft Systems (UAS) beyond visual line of sight (BVLOS) is an endearing and challenging task. While UAS have the potential to significantly enhance today's logistics and emergency response capabilities, unmanned flying…

Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…

The trend for Urban Air Mobility (UAM) is growing with prospective air taxis, parcel deliverers, and medical and industrial services. Safe and efficient UAM operation relies on timely communication and reliable data exchange. In this paper,…