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This paper presents a novel algorithm named the motion-encoded particle swarm optimization (MPSO) for finding a moving target with unmanned aerial vehicles (UAVs). From the Bayesian theory, the search problem can be converted to the…
This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as…
This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…
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…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Reactive power plays an important role in supporting the real power transfer by maintaining voltage stability and system reliability. It is a critical element for a transmission operator to ensure the reliability of an electric system while…
Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…
The search for the model or ingredients that describe the current vision of our cosmos has led to the creation of a set of highly favorable experiments, and therefore a great flow of information. Due to this torrent of information and the…
Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Low-altitude economy includes the application of unmanned aerial vehicles (UAVs) serving ground robots. This paper investigates the 3-dimensional (3D) trajectory and communication optimization for low-altitude air-ground cooperation…
Bio-inspired optimization algorithms have been gaining more popularity recently. One of the most important of these algorithms is particle swarm optimization (PSO). PSO is based on the collective intelligence of a swam of particles. Each…
This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm…
Elevated LiDAR (ELiD) has the potential to hasten the deployment of Autonomous Vehicles (AV), as ELiD can reduce energy expenditures associated with AVs, and can also be utilized for other intelligent Transportation Systems applications…
Wireless rechargeable sensor networks with a charging unmanned aerial vehicle (CUAV) have the broad application prospects in the power supply of the rechargeable sensor nodes (SNs). However, how to schedule a CUAV and design the trajectory…
Indoor positioning applications are craving for ever higher precision and accuracy across the entire coverage zone. Optimal anchor placement and the deployment of multiple distributed anchor nodes could have a major impact in this regard.…
We study the variant of Particle Swarm Optimization (PSO) that applies random velocities in a dimension instead of the regular velocity update equations as soon as the so-called potential of the swarm falls below a certain bound in this…
This study proposes a method for estimating the mechanical parameters of vehicles and bridges and the road unevenness, using only vehicle vibration and position data. In the proposed method, vehicle input and bridge vibration are estimated…
Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown…