Related papers: Multi-robot Task Assignment for Aerial Tracking wi…
The optimal tracking problem is addressed in the robotics literature by using a variety of robust and adaptive control approaches. However, these schemes are associated with implementation limitations such as applicability in uncertain…
We present a formal mathematical multi-agent modeling framework for autonomously combating a wildland fire with unmanned aerial vehicles. The problem is formulated as a collaboration between a drone and a helicopter equipped with a tanker.…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
We introduce a package service model where trucks as well as drones can deliver packages. Drones can travel on trucks or fly; but while flying, drones can only carry one package at a time and have to return to a truck to charge after each…
Unmanned Aerial Vehicles (UAVs) or drones are increasingly used for urban applications like traffic monitoring and construction surveys. Autonomous navigation allows drones to visit waypoints and accomplish activities as part of their…
With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Drones are becoming indispensable in many application domains. In data-driven missions, besides sensing, the drone must process the collected data at runtime to decide whether additional action must be taken on the spot, before moving to…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
This paper formulates a team orienteering problem with multiple fixed-wing drones and develops a branch-and-price algorithm to solve the problem to optimality. Fixed-wing drones, unlike rotary drones, have kinematic constraints associated…
Drones are enabling new forms of cinematography. However, quadrotor cinematography requires accurate comprehension of the scene, technical skill of flying, artistic skill of composition and simultaneous realization of all the requirements…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
Delivering a parcel from the distribution hub to the customer's doorstep is called the \textit{last-mile delivery} step in delivery logistics. In this paper, we study a hybrid {\it truck-drones} model for the last-mile delivery step, in…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…
We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit vehicles (e.g., buses and trams). We design a comprehensive…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…