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Localization is a fundamental function in cooperative control of micro unmanned aerial vehicles (UAVs), but is easily affected by flip ambiguities because of measurement errors and flying motions. This study proposes a localization method…
The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…
This paper presents a UAV swarm system designed to assist first responders in disaster scenarios like wildfires. By distributing sensors across multiple agents, the system extends flight duration and enhances data availability, reducing the…
For emergency response scenarios like firefighting in urban environments, there is a need to both localize emergency responders inside the building and also support a high bandwidth communication link between the responders and a…
We consider multiple unmanned aerial vehicles (UAVs) serving a density of ground terminals (GTs) as base stations. The objective is to minimize the outage probability of GT-to-UAV transmissions. Optimal placement of UAVs under different UAV…
Drone base stations can assist cellular networks in a variety of scenarios. To serve the maximum number of users in an area without apriori user distribution information, we proposed a two-stage algorithm to find the optimal deployment of…
In terrestrial communication networks without fixed infrastructure, unmanned aerial vehicle (UAV)-mounted mobile base stations (MBSs) provide an efficient solution to achieve wireless connectivity. This letter aims to minimize the number of…
In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a…
The unmanned aerial vehicles (UAVs) in a disaster-prone environment plays important role in assisting the rescue services and providing the internet connectivity with the outside world. However, in such a complex environment the selection…
This work considers the placement of unmanned aerial vehicle base stations (UAV-BSs) with criterion of minimum UAV-recall-frequency (UAV-RF), indicating the energy efficiency of mobile UAVs networks. Several different power consumptions,…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Reliable estimation of macro and micro traffic states is essential for urban traffic management. Unmanned Aerial Vehicles, with their airborne full-sample continuous trajectory observation, bring new opportunities for macro- and…
In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…
Maritime accidents cause thousands of disappearances every year, with migrant crossings being particularly dangerous and under-reported. Current coastal and NGO search and rescue services are unable to provide a timely response, so new…
This letter considers the unmanned aerial vehicle (UAV)-enabled relay system to deliver command information under ultra-reliable and low-latency communication (URLLC) requirements. We aim to jointly optimize the blocklength allocation and…
Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address…
Suitably equipped with cameras and sensors, uncrewed aerial vehicles (UAVs) can be instrumental for wildfire prediction, tracking, and monitoring, provided that uninterrupted connectivity can be guaranteed even if some of the ground access…