Related papers: Distributed UAV Formation Control Robust to Relati…
Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…
Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…
With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…
This paper studies collective motion optimization of a fleet of UAVs flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body, thus, UAV coordination is defined by a homeomorphic…
In this paper, we consider a problem motivated by search-and-rescue applications, where an unmanned aerial vehicle (UAV) seeks to approach the vicinity of a distant quasi-stationary radio frequency (RF) emitter surrounded by local…
Recently, UAVs endowed with high mobility, low cost, and remote control have promoted the development of UAV-assisted real-time video/image acquisition applications, which have a high demand for both transmission rate and image resolution.…
This work is concerned with practical stabilization of nonlinear systems by means of inf-convolution-based sample-and-hold control. It is a fairly general stabilization technique based on a generic non-smooth control Lyapunov function (CLF)…
This work presents a novel, inference-based approach to the distributed and cooperative flocking control of aerial robot swarms. The proposed method stems from the Unmanned Aerial Vehicle (UAV) dynamics by limiting the latent set to the…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a…
Embed-to-control (E2C) is a model for solving high-dimensional optimal control problems by combining variational auto-encoders with locally-optimal controllers. However, the E2C model suffers from two major drawbacks: 1) its objective…
We propose a design that uses the principle of chaos for UAV secure communication. A UAV identified as an aerial base station communicates with a ground base station over an RF channel. The communication units have dynamics based on the…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
Unmanned aerial vehicle (UAV)-assisted communication becomes a promising technique to realize the beyond fifth generation (5G) wireless networks, due to the high mobility and maneuverability of UAVs which can adapt to heterogeneous…
This paper presents a robust and secure framework for achieving accurate and reliable mutual localization in multiple unmanned aerial vehicle (UAV) systems. Challenges of accurate localization and security threats are addressed and…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…