Related papers: Optimal Collaborative Transportation for Under-Cap…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Drone delivery is rapidly emerging as a cost-effective and energy efficient alternative for last-mile delivery. Unlike ground vehicles, a drone's energy consumption depends on its payload in addition to travel distance. This creates a…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Coordinated truck-and-drone routing integrates the high capacity and range of ground vehicles with the flexible routing and speed of drones, enabling simultaneous service. Increasingly applied in last-mile delivery, this synchronization…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
Unmanned Aerial Vehicles (UAVs) have been extensively utilized to provide wireless connectivity in rural and under-developed areas, enhance network capacity and provide support for peaks or unexpected surges in user demand, mainly due to…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Unmanned Aerial Vehicles (UAVs), commonly known as drones, have experienced expanding use in urban environments in recent years. However, the growing density of drones raises significant challenges, such as avoiding collisions and managing…
Swarm trajectory optimization problems are a well-recognized class of multi-agent optimal control problems with strong nonlinearity. However, the heuristic nature of needing to set the final time for agents beforehand and the time-consuming…
This paper investigates a multi-Unmanned Aerial Vehicle (UAV) joint base station-assisted Internet of Vehicles (IoV) task offloading system in dense urban environments. To minimize system delay and energy consumption under strict coupling…
The coordination among drones and ground vehicles for last-mile delivery has gained significant interest in recent years. In this paper, we study \textit{multiple drone delivery scheduling problem(MDSP) \cite{Betti_ICDCN22} for last-mile…
The paper focuses on a heterogeneous swarm of drones to achieve a dynamic landing of formation on a moving robot. This challenging task was not yet achieved by scientists. The key technology is that instead of facilitating each agent of the…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
We study a resource allocation problem for the cooperative aerial-ground vehicle routing application, in which multiple Unmanned Aerial Vehicles (UAVs) with limited battery capacity and multiple Unmanned Ground Vehicles (UGVs) that can also…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
Rising labor costs and increasing logistical demands pose significant challenges to modern delivery systems. Automated Electric Vehicles (AEVs) could reduce reliance on delivery personnel and increase route flexibility, but their adoption…
The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural elasticity is considered in deriving the system's dynamics. The…