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Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…
Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…
The pinwheel problem is a real-time scheduling problem that asks, given $n$ tasks with periods $a_i \in \mathbb{N}$, whether it is possible to infinitely schedule the tasks, one per time unit, such that every task $i$ is scheduled in every…
We study time difference of arrival (TDoA)-based algorithms for drone controller localization and analyze TDoA estimation in multipath channels. Building on TDoA estimation, we propose two algorithms to enhance localization accuracy in…
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
Optimization of power distribution system topology is complicated by the requirement that the system be operated in a radial configuration. In this paper, we discuss existing methods for enforcing radiality constraints and introduce two new…
We describe a randomized algorithm that, given a set $P$ of points in the plane, computes the best location to insert a new point $p$, such that the Delaunay triangulation of $P\cup\{p\}$ has the largest possible minimum angle. The expected…
In this paper, we consider a scenario where an unmanned aerial vehicle (UAV) collects data from a set of sensors on a straight line. The UAV can either cruise or hover while communicating with the sensors. The objective is to minimize the…
Drones can inspect overhead power lines while they remain energized, significantly simplifying the inspection process. However, localizing a drone relative to all conductors using an onboard LiDAR sensor presents several challenges: (1)…
The vehicle routing problem with drones (VRP-D) is to determine the optimal routes of trucks and drones such that the total operational cost is minimized in a scenario where the trucks work in tandem with the drones to deliver parcels to…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Unmanned aerial vehicles (UAVs) have received plenty of attention due to their high flexibility and enhanced communication ability, nonetheless, the limited onboard energy restricts UAVs' application on persistent data collection missions…
The task of maximizing coverage using multiple robots has several applications such as surveillance, exploration, and environmental monitoring. A major challenge of deploying such multi-robot systems in a practical scenario is to ensure…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
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…
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Drones are not fully trusted yet. Their reliance on radios and cameras for navigation raises safety and privacy concerns. These systems can fail, causing accidents, or be misused for unauthorized recordings. Considering recent regulations…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…