Related papers: Coverage Hole Elimination System in Industrial Env…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
Widespread use of computer networks and the use of varied technology for the interconnection of computers has made congestion a significant problem. In this report, we summarize our research on congestion avoidance. We compare the concept…
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…
Due to the rapid development of IoT technology, automatic guided vehicles (AGVs) interact with an industrial control system (ICS) through the wireless network to support the freight distribution in the automated warehouse. However, the…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
This paper introduces the covering path problem on a grid (CPPG) which finds the cost-minimizing path connecting a subset of points in a grid such that each point that needs to be covered is within a predetermined distance of a point from…
The utilization of millimeter-wave (mmWave) bands in 5G networks poses new challenges to network planning. Vulnerability to blockages at mmWave bands can cause coverage holes (CHs) in the radio environment, leading to radio link failure…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…
Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…
We study the problem of visual surface inspection of infrastructure for defects using an Unmanned Aerial Vehicle (UAV). We do not assume that the geometric model of the infrastructure is known beforehand. Our planner, termed GATSBI, plans a…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
Ensuring a smooth rate of efflux of particles from an outlet without unpredictable clogging events is crucial in processing powders and grains. We show by experiments and simulations that an obstacle placed near the outlet can greatly…
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are only discovered when a robot reaches the damaged point. This…
Vehicle trajectory prediction is central to highway perception, but deployment on roadside edge devices necessitates bounded, deterministic end-to-end latency. We present EdgeVTP, an embedded-first trajectory predictor that combines…
In the era of Big Data and Mobile Internet, how to ensure the terminal devices (e.g., sensor nodes) work steadily for a long time is one of the key issues to improve the efficiency of the whole network. However, a lot of facts have shown…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…