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Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…
Wireless networks consisting of low SWaP, FW-UAVs are used in many applications, such as monitoring, search and surveillance of inaccessible areas. A decentralized and autonomous approach ensures robustness to failures; the UAVs explore and…
Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption.…
Given the spatial heterogeneity of land use patterns in most cities, large-scale UAM deployments will likely focus on specific areas, such as intertransfer traffic between suburbs and city centers. However, large-scale UAM operations…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…
Preflight planning for large-scale Unmanned Aerial Vehicle (UAV) fleets in dynamic, shared airspace presents significant challenges, including temporal No-Fly Zones (NFZs), heterogeneous vehicle profiles, and strict delivery deadlines.…
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…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…
Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
This paper investigates a multi-Unmanned Aerial Vehicle (UAV) joint base station-assisted Internet of Vehicles (IoV) task offloading system in dense urban environments. To minimize system delay and energy consumption under strict coupling…
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…
This work introduces an integrated approach to optimizing urban traffic by combining predictive modeling of vehicle flow, adaptive traffic signal control, and a modular integration architecture through distributed messaging. Using real-time…
Reliable estimation of macro and micro traffic states is essential for urban traffic management. Unmanned Aerial Vehicles, with their airborne full-sample continuous trajectory observation, bring new opportunities for macro- and…
Humanitarian logistics operations face increasing difficulties due to rising demands for aid in disaster areas. This paper investigates the dynamic allocation of scarce relief supplies across multiple affected districts over time. It…
Ensuring safe separation between aircraft is a critical challenge in air traffic management, particularly in urban air mobility (UAM) environments where high traffic density and low altitudes require precise control. In these environments,…
In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…
Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…