Related papers: CoDe: A Cooperative and Decentralized Collision Av…
Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…
Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly…
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…
The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…
With the rapid advancement of UAV technology, the problem of UAV coalition formation has become a hotspot. Therefore, designing task-driven multi-UAV coalition formation mechanism has become a challenging problem. However, existing…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
In this paper, the multi-target tracking (MTT) with an unmanned aerial vehicle (UAV) swarm is investigated in the presence of jammers, where UAVs in the swarm communicate with each other to exchange information of targets during tracking.…
Unmanned Aerial Vehicles (UAVs) have significantly enhanced fog computing by acting as both flexible computation platforms and communication mobile relays. In this paper, we consider four important and interdependent modules: attitude…
Ensuring safety for spacecraft operations has become a paramount concern due to the proliferation of space debris and the saturation of valuable orbital regimes. In this regard, the Collision Avoidance Manoeuvre (CAM) has emerged as a…
In the past decade, unmanned aerial vehicles (UAVs) have been widely used in various civilian applications, most of which only require a single UAV. In the near future, it is expected that more and more applications will be enabled by the…
Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely on abstracted geometric features or privileged ground-truth…
We consider the uplink transmission between a multi-antenna ground station and an unmanned aerial vehicle (UAV) swarm. The UAVs are assumed as intelligent agents, which can explore their optimal three dimensional (3-D) deployment to…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
In this work, we consider a multi-unmanned aerial vehicle (UAV) cooperative sensing system where UAVs are deployed to sense multiple targets in terrain-aware line of sight (LoS) conditions in uneven terrain equipped with directional…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
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…
This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13-17 of the International Regulations for Preventing Collisions at Sea (COLREGs). The COLAV system…
This paper studies a heterogeneous Unmanned Aerial Vehicles (UAVs) cooperative search approach suitable for complex environments. In the application, a fixed-wing UAV drops rotor UAVs to deploy the cluster rapidly. Meanwhile, the fixed-wing…
Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous aerial swarms, laying the foundation for downstream algorithms such as planning and control. To address existing CSLAM systems' limitations in relative…
Collaborative planning under operational constraints is an essential capability for heterogeneous robot teams tackling complex large-scale real-world tasks. Unmanned Aerial Vehicles (UAVs) offer rapid environmental coverage, but flight time…