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This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
Given a line segment $I=[0,L]$, the so-called barrier, and a set of $n$ sensors with varying ranges positioned on the line containing $I$, the barrier coverage problem is to move the sensors so that they cover $I$, while minimising the…
Drone delivery has been a hot topic in the industry in the past few years. However, existing approaches either focus on rural areas or rely on centralized drop-off locations from where the last mile delivery is performed. In this paper we…
Fixed-wind unmanned aerial vehicles (UAVs) are essential for low cost aerial surveillance and mapping applications in remote regions. One of the main limitations of UAVs is limited fuel capacity and hence requires periodic refueling to…
Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators),…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…
We study a cellular networking scenario, called DroneCells, where miniaturized base stations (BSs) are mounted on flying drones to serve mobile users. We propose that the drones never stop, and move continuously within the cell in a way…
We introduce in this paper a new variant of a location routing problem, to decide, the number and location of drop-off points to install based on the demands of a set of pick-up points, according to a given set-up budget for installing…
We consider a remote sensing system in which fixed sensors are placed in a region, and a drone flies over the region to collect information from cluster heads. We assume that the drone has a fixed maximum range, and that the energy…
Recent years have witnessed increasingly more uses of Unmanned Aerial Vehicle (UAV) swarms for rapidly providing wireless coverage to ground users. Each UAV is constrained in its energy storage and wireless coverage, and it consumes most…
Autonomous Mobile Robots (AMRs) operate on battery power, making energy efficiency a critical consideration, particularly in outdoor environments where terrain variations affect energy consumption. While prior research has primarily focused…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Cellular networks are ubiquitous entities that provide major means of communication all over the world. One major challenge in cellular networks is a dynamic change in the number of users and their usage of telecommunication service which…
In this study, we formulate the drone delivery problem as a control problem and solve it using Model Predictive Control. Two experiments are performed: The first is on a less challenging grid world environment with lower dimensionality, and…
Precise soft landings on asteroids are central to many deep space missions for surface exploration and resource exploitation. To improve the autonomy and intelligence of landing control, a real-time optimal control approach is proposed…
We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary modes of transit en route to their own destinations. Such…