Related papers: A Study on Centralised and Decentralised Swarm Rob…
In different situations, like disaster communication and network connectivity for rural locations, unmanned aerial vehicles (UAVs) could indeed be utilized as airborne base stations to improve both the functionality and coverage of…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
This paper introduces an Unmanned Aerial Vehicle - enabled content management architecture that is suitable for critical content access in communities of users that are communication-isolated during diverse types of disaster scenarios. The…
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with…
Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…
In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…
This paper investigates the use of Multi-Task Bayesian Optimization for tuning decentralized trajectory generation algorithms in multi-drone systems. We treat each task as a trajectory generation scenario defined by a specific number of…
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage…
Drones (or unmanned aerial vehicles [UAVs]) are expected to be an important component of fifth generation (5G)/beyond 5G (B5G) cellular architectures that can potentially facilitate wireless broadcast or point-to-multipoint transmissions.…
The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…
We propose a novel service-oriented architecture for drone-based multi-package delivery in a skyway network. The proposed architecture provides a high-level design for deploying a skyway network in a city for the effective provisioning of…
Autonomous Unmanned Aerial Vehicle (UAV) swarms are increasingly used as rapidly deployable aerial relays and sensing platforms, yet practical deployments must operate under partial observability and intermittent peer-to-peer links. We…
The use of semi-autonomous Unmanned Aerial Vehicles (UAV) to support emergency response scenarios, such as fire surveillance and search and rescue, offers the potential for huge societal benefits. However, designing an effective solution in…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
We propose a novel framework for swarm-based drone delivery services with in-flight energy recharging. The framework aims to enhance the delivery time of multiple packages by reducing the number of stops and recharging times at intermediate…
The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a…
This paper presents a scheduling algorithm that divides a manufacturing/warehouse floor into zones that an Autonomous Mobile Robot (AMR) will occupy and complete part pick-up and drop-off tasks. Each zone is balanced so that each AMR will…
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…