Related papers: Congestion Analysis for the DARPA OFFSET CCAST Swa…
Detecting, predicting, and alleviating traffic congestion are targeted at improving the level of service of the transportation network. With increasing access to larger datasets of higher resolution, the relevance of deep learning for such…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
Multi-view Synthetic Aperture Radar (SAR) imaging can effectively enhance the performance of tasks such as automatic target recognition and image information fusion. Unmanned aerial vehicles (UAVs) have the advantages of flexible deployment…
We consider an optimization deployment problem of multistatic radar system (MSRS). Through the antenna placing and the transmitted power allocating, we optimally deploy the MSRS for two goals: 1) the first one is to improve the coverage…
Swarm of drones are increasingly being asked to carry out missions that can't be completed by one drone. Particularly, in delivery, issues arise due to the swarm's limited flight endurance. Hence, we propose a novel formation-guided…
High-performance computing (HPC) systems frequently experience congestion leading to significant application performance variation. However, the impact of congestion on application runtime differs from application to application depending…
The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays,…
Traffic assignment is a core component of many urban transport planning tools. It is used to determine how traffic is distributed over a transportation network. We study the task of computing traffic assignments for public transport: Given…
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop…
The usage of unmanned aerial vehicles (UAVs) in civil and military applications continues to increase due to the numerous advantages that they provide over conventional approaches. Despite the abundance of such advantages, it is imperative…
This paper addresses the increasing significance of UAVs (Unmanned Aerial Vehicles) and the emergence of UAV swarms for collaborative operations in various domains. However, the effectiveness of UAV swarms can be severely compromised by…
In this paper, the energy-efficient unmanned aerial vehicle (UAV) swarm assisted mobile edge computing (MEC) with dynamic clustering and scheduling is studied. In the considered system model, UAVs are divided into multiple swarms, with each…
This paper proposes a perception-shared and swarm trajectory global optimal (STGO) algorithm fused UAVs formation motion planning framework aided by an active sensing system. First, the point cloud received by each UAV is fit by the…
When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…
In this paper, we propose a conflict-free multi- agent flight scheduling that ensures robust separation in con- strained airspace for Urban Air Mobility (UAM) operations application. First, we introduce Pairwise Conflict Avoidance (PCA)…
Unmanned Aerial Vehicle (UAV) swarms are often required in off-grid scenarios, such as disaster-struck, war-torn or rural areas, where the UAVs have no access to the power grid and instead rely on renewable energy. Considering a main…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…