Related papers: Stigmergy-based, Dual-Layer Coverage of Unknown In…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
This paper presents a method for determining the area explored by a line-sweep sensor during an area-covering mission in a two-dimensional plane. Accurate knowledge of the explored area is crucial for various applications in robotics, such…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to…
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
This paper presents an approach for deploying and maintaining a fleet of homogeneous fixed-wing unmanned aerial vehicles (UAVs) for all-time coverage of an area. Two approaches for loiter circle packing have been presented: square and…
With the rapidly growing expansion in the use of UAVs, the ability to autonomously navigate in varying environments and weather conditions remains a highly desirable but as-of-yet unsolved challenge. In this work, we use Deep Reinforcement…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
Deploying unmanned aerial vehicle (UAV) networks to provide coverage for outdoor users has attracted great attention during the last decade. However, outdoor coverage is challenging due to the high mobility of crowds and the diverse terrain…
In recent years, the drive-by sensing paradigm has become increasingly popular for cost-effective monitoring of urban areas. Drive-by sensing is a form of crowdsensing wherein sensor-equipped vehicles (aka, mobile agents) are the primary…
To enhance both the sensing and covert communication performance, a dual-unmanned aerial vehicle (UAV)-aided scheme is proposed for integrated sensing and communication networks, in which one UAV maneuvers as the aerial dual-functional…
Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the real-time map. These methods often prioritize navigation…
Unmanned aerial vehicle (UAV) with the intrinsic three-dimensional (3D) mobility provides an ideal platform for implementing aerial movable antenna (AMA) system enabled by UAV swarm cooperation. Besides, AMA system is readily to achieve an…
This paper tackles the fundamental passive eavesdropping problem in modern wireless communications in which the location and the channel state information (CSI) of the attackers are unknown. In this regard, we propose deploying an unmanned…
In this paper we study the dynamic aspects of the coverage of a mobile sensor network resulting from continuous movement of sensors. As sensors move around, initially uncovered locations are likely to be covered at a later time. A larger…
Unmanned aerial vehicle (UAV) is regarded as a key enabling platform for low-altitude economy, due to its advantages such as 3D maneuverability, flexible deployment, and LoS air-to-air/ground communication links. In particular, the…
This paper addresses a novel multi-agent deep reinforcement learning (MADRL)-based positioning algorithm for multiple unmanned aerial vehicles (UAVs) collaboration (i.e., UAVs work as mobile base stations). The primary objective of the…