Related papers: Optimal Real Time Drone Path Planning for Harvesti…

This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…

Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…

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…

In this paper, we address a minimum-time steering problem for a drone modeled as point mass with bounded acceleration, across a set of desired waypoints in the presence of gravity. We first provide a method to solve for the minimum-time…

This paper proposes an energy management framework for cellular heterogeneous networks (HetNets) supported by dynamic solar powered drones. A HetNet composed of a macrocell base station (BS), micro cell BSs, and drone small cell BSs are…

Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…

This paper presents a new approach for formulating the delivery problem by drones with general energy consumption models where the drones visit a set of places to deliver parcels to customers. Drones can perform multiple trips that start…

In this paper, we consider a scenario where an unmanned aerial vehicle (UAV) collects data from a set of sensors on a straight line. The UAV can either cruise or hover while communicating with the sensors. The objective is to minimize the…

We consider the problem of data collection from a continental-scale network of energy harvesting sensors, applied to tracking mobile assets in rural environments. Our application constraints favour a highly asymmetric solution, with heavily…

This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…

We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…

Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…

In this paper, we propose a framework design for wireless sensor networks based on multiple unmanned aerial vehicles (UAVs). Specifically, we aim to minimize deployment and operational costs, with respect to budget and power constraints. To…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…

Solving high-dimensional optimal control problems in real-time is an important but challenging problem, with applications to multi-agent path planning problems, which have drawn increased attention given the growing popularity of drones in…

Current drone delivery systems mostly focus on point-to-point package delivery. We present a multi-stop drone service system to deliver packages anywhere anytime within a specified geographic area. We define a skyway network which takes…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

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…