Related papers: SwarmHawk: Self-Sustaining Multi-Agent System for …
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…
For precise, efficient, and safe drone landings, ground platforms should real-time, accurately locate descending drones and guide them to designated spots. While mmWave sensing combined with cameras improves localization accuracy, the lower…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…
This paper introduces a safe swarm of drones capable of performing landings in crowded environments robustly by relying on Reinforcement Learning techniques combined with Safe Learning. The developed system allows us to teach the swarm of…
This work considers the problem of intercepting rogue drones targeting sensitive critical infrastructure facilities. While current interception technologies focus mainly on the jamming/spoofing tasks, the challenges of effectively locating…
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…
This study proposes an approach for establishing an optimal multihop ad-hoc network using multiple unmanned aerial vehicles (UAVs) to provide emergency communication in disaster areas. The approach includes two stages, one uses particle…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
As robotics becomes increasingly vital for environmental protection, there is a growing need for effective deployment methods that match the pace of robotics innovation. Current strategies often fall short, leaving a gap between the…