Related papers: Decentralized traffic management of autonomous dro…
We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
This paper introduces decentralized control concepts for drones using differential game theory. The approach optimizes the behavior of an ego drone, assuming the anticipated behavior of the opponent drones using a receding horizon approach.…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential…
Urban Air Mobility (UAM) poses unprecedented traffic coordination challenges, especially with increasing UAV densities in dense urban corridors. This paper introduces a mathematical model using a control algorithm to optimize an Edge…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…
The rapid development of drone technology is leading to more and more use cases being proposed. In response, regulators are drawing up drone traffic management frameworks. However, to design solutions that are efficient, fair, simple,…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…