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Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
This work presents a study on parallel and distributional deep reinforcement learning applied to the mapless navigation of UAVs. For this, we developed an approach based on the Soft Actor-Critic method, producing a distributed and…
A network of unmanned aerial vehicles (UAVs) provides distributed coverage, reconfigurability, and maneuverability in performing complex cooperative tasks. However, it relies on wireless communications that can be susceptible to cyber…
A novel framework is proposed for quality of experience (QoE)-driven deployment and dynamic movement of multiple unmanned aerial vehicles (UAVs). The problem of joint non-convex three-dimensional (3D) deployment and dynamic movement of the…
Effective solutions for intelligent data collection in terrestrial cellular networks are crucial, especially in the context of Internet of Things applications. The limited spectrum and coverage area of terrestrial base stations pose…
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…
In this paper, we study the joint 3D placement of unmanned aerial vehicles (UAVs) and UAVs-users association under bandwidth limitation and quality of service constraint. In particular, in order to allow to UAVs to dynamically improve their…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
This paper presents a scalable decentralized multi agent framework that facilitates the exchange of information between computing units through computer networks. The architectural boundaries imposed by the tool make it suitable for…
Cooperative communication using unmanned aerial vehicles (UAVs) is a promising technology for infrastructureless wireless networks. One of the key challenges in UAV based communications is the backhaul throughput. In this paper, we propose…
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…
Safety is the primary concern when it comes to air traffic. In-flight safety between Unmanned Aircraft Vehicles (UAVs) is ensured through pairwise separation minima, utilizing conflict detection and resolution methods. Existing methods…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target under half-duplex operation. The area of interest,…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…
Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimizing the quantization design of the communications between…
Unmanned aerial vehicles (UAVs) can be deployed to monitor very large areas without the need for network infrastructure. UAVs communicate with each other during flight and exchange information with each other. However, such communication…
This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is…