Related papers: Decentralized traffic management of autonomous dro…
Conventional air traffic control divides airspace into specific regions, creating a scaling bottleneck as traffic grows. Choosing how to partition airspace is not straightforward because grid size affects workload, handoff frequency, and…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
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…
Deep Reinforcement Learning (DRL) uses diverse, unstructured data and makes RL capable of learning complex policies in high dimensional environments. Intelligent Transportation System (ITS) based on Autonomous Vehicles (AVs) offers an…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
Aerial networks, composed of Unmanned Aerial Vehicles (UAVs) acting as Wi-Fi access points or cellular base stations, are emerging as an interesting solution to provide on-demand wireless connectivity to users, when there is no network…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general…
We study last-mile delivery problems where trucks and drones collaborate to deliver goods to final customers. In particular, we focus on problem settings where either a single truck or a fleet with several homogeneous trucks work in…
Aerial security means performing security-aimed monitoring and surveillance operations with the help of airborne vehicles. This kind of activities suggest that human officers (security organizations, law enforcement, police etc.) would be…
Modern wireless traffic demand pushes Internet Service Providers to develop effective strategies to improve user experience. Since deploying dense Base Stations (BSs) is not cost efficient, an alternative is to deploy autonomous drones to…
Dense and complex air traffic scenarios require higher levels of automation than those exhibited by tactical conflict detection and resolution (CD\&R) tools that air traffic controllers (ATCO) use today. However, the air traffic control…
This paper considers the optimization problems that arise to coordinate a tandem between a mothership vehicle and a fleet of drones. %more than one drone. Each drone can be launched from the mothership to perform an operation. After…
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
Individual agents in natural systems like flocks of birds or schools of fish display a remarkable ability to coordinate and communicate in local groups and execute a variety of tasks efficiently. Emulating such natural systems into drone…
Smart and decentralized control systems have recently been proposed to handle the growing traffic congestion in urban cities. Proposed smart traffic light solutions based on Wireless Sensor Network and Vehicular Ad-hoc NETwork are either…