Related papers: Metaheuristic planner for cooperative multi-agent …
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
Application of UAV in indoor environment is emerging nowadays due to the advancements in technology. UAV brings more space-flexibility in an occupied or hardly-accessible indoor environment, e.g., shop floor of manufacturing industry,…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Preflight planning for large-scale Unmanned Aerial Vehicle (UAV) fleets in dynamic, shared airspace presents significant challenges, including temporal No-Fly Zones (NFZs), heterogeneous vehicle profiles, and strict delivery deadlines.…
The integration of unmanned aerial vehicles (UAVs) into wireless communication systems has emerged as a transformative approach, promising cost-efficient connectivity. This paper addresses the optimization of the dynamic time-splitting…
In this paper, we study the path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of the large-scale channel…
Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…
World models simulate environment dynamics from raw sensory inputs like video. However, using them for planning can be challenging due to the vast and unstructured search space. We propose a robust and highly parallelizable planner that…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial 3D printing. The proposed framework formulates an…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
This work is motivated by solving a problem faced by big agriculture companies implementing precision agriculture operations for spraying practices using two types of operators, namely a tender tanker and a fleet of sprayers. We model this…
Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…
We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-horizon aerial monitoring missions. More specifically, given a…
We investigate multi-agent navigation tasks, where multiple agents need to reach initially unassigned goals in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…