Related papers: Optimal Placement of Base Stations in Border Surve…
Given a fleet of drones with different speeds and a set of package delivery requests, the collaborative delivery problem asks for a schedule for the drones to collaboratively carry out all package deliveries, with the objective of…
Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An approximate solution to the optimal control problem is obtained…
Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…
An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Landing is the most challenging and risky aspect of multirotor drone flight, and only simple landing methods exist for autonomous drones. We explore methods for autonomous drone landing in two scenarios. In the first scenario, we examine…
With the popularity of drone technologies, aerial photography has become prevalent in many daily scenarios such as environment monitoring, structure inspection, law enforcement etc. A central challenge in this domain is the efficient…
This paper considers a joint pollution-routing and speed optimization problem (PRP-SO) where fuel costs and $\textit{CO}_2e$ emissions depend on the vehicle speed, arc payloads, and road grades. We present two methods, one approximate and…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
We present an algorithm to perform fuel-optimal stationkeeping for spacecraft in unstable halo orbits with additional constraints to ensure safety in the event of a control failure. We formulate a convex trajectory-optimization problem to…
Particle Swarm Optimisation (PSO) is a powerful optimisation algorithm that can be used to locate global maxima in a search space. Recent interest in swarms of Micro Aerial Vehicles (MAVs) begs the question as to whether PSO can be used as…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Deploying multiple unmanned aerial vehicles (UAVs) to locate a signal-emitting source covers a wide range of military and civilian applications like rescue and target tracking. It is well known that the UAVs-source (sensors-target)…
For a reduction in environmental pollution and dependency on petroleum, electric vehicles (EV) present an advantageous alternative to traditionally fossil-fuel powered automobiles. Rapid growth in the number of EVs requires an urgent need…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
To improve capacity and overcome some of the limitations of cellular wireless networks, drones with aerial base stations can be deployed to assist the terrestrial cellular wireless networks. The mobility of drones allows flexible network…
Time-varying coverage, namely sweep coverage is a recent development in the area of wireless sensor networks, where a small number of mobile sensors sweep or monitor comparatively large number of locations periodically. In this article we…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
The use of drones in logistics is gaining more and more interest, and drones are becoming a more viable and common way of distributing parcels in an urban environment. As a consequence, there is a flourishing production of articles in the…