Related papers: Energy-Aware Planning-Scheduling for Autonomous Ae…
Up until now, path planning for unmanned aerial vehicles (UAVs) has mainly been focused on the optimisation towards energy efficiency. However, to operate UAVs safely, wireless coverage is of utmost importance. Currently, deployed cellular…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion and energy planning using model predictive control (MPC). A…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
Autonomous driving lacks strong proof of energy efficiency with the energy-model-agnostic trajectory planning. To achieve an energy consumption model-aware trajectory planning for autonomous driving, this study proposes an online nonlinear…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…
Autonomy of devices is a major challenge in many Internet of Things (IoT) applications, in particular when the nodes are deployed remotely or difficult to assess places. In this paper we present an approach to provide energy to these…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
In this letter, we present a model for quadrotor unmanned aerial vehicles (UAVs), including control, communication, and wireless charging. In so doing, we investigate associated energy and battery dynamics. Indeed, energy and battery…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
The traditional multicopter design method usually requires a long iterative process to find the optimal design based on given performance requirements. The method is uneconomical and inefficient. In this paper, a practical method is…
Electric vertical-takeoff and landing (eVTOL) aircraft, recognized for their maneuverability and flexibility, offer a promising alternative to our transportation system. However, the operational effectiveness of these aircraft faces many…
We study route scheduling of a UAV for data collec-tion from remote sensor nodes (SNs) with battery recharging. Thefreshness of the collected information is captured by the metric ofage of information (AoI). The objective is to minimize the…
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to…
State-of-the-art drone technologies have severe flight time limitations due to weight constraints, which inevitably lead to a relatively small amount of available energy. Therefore, frequent battery replacement or recharging is necessary in…
Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…
Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…
The increasing penetration of Electric Vehicles (EVs) and renewable energies into the grid necessitates tools to smooth the demand curve. To this end, this paper suggests an EV charging scheduling algorithm and a smart charging price. As…