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Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…
Small unmanned aerial vehicles (UAVs) have become standard tools in reconnaissance and surveying for both civilian and defense applications. In the future, UAVs will likely play a pivotal role in autonomous package delivery, but current…
We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose…
In this paper, we propose a novel framework of air traffic management (ATM). The framework is in particular characterized by the trajectory planning of weakly supervised aircraft; the air traffic control (ATC) does not completely determine…
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show promise, most AM systems are developed in…
Emerging mobility systems such as connected and automated vehicles (CAVs) provide the most intriguing opportunity for more accessible, safe, and efficient transportation. CAVs are expected to significantly improve safety by eliminating the…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…
Highly populated cities face several challenges, one of them being the intense traffic congestion. In recent years, the concept of Urban Air Mobility has been put forward by large companies and organizations as a way to address this…
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…
In this paper, we propose a novel joint intelligent trajectory design and resource allocation algorithm based on user's mobility and their requested services for unmanned aerial vehicles (UAVs) assisted networks, where UAVs act as nodes of…
This paper presents a continuation of the previous research on the interaction between a human traffic manager and the UATMS. In particular, we focus on the automation of the process of handling a vertiport outage, which was partially…
We consider a variant of the berth allocation problem-i.e., the multi-port berth allocation problem-aimed at assigning berthing times and positions to vessels in container terminals. This variant involves optimizing vessel travel speeds…
Advanced Air Mobility (AAM) is transforming transportation systems by extending them into near-ground airspace, offering innovative solutions to mobility challenges. In this space, electric vertical take-off and landing vehicles (eVTOLs)…
The low-altitude economy (LAE) is rapidly expanding driven by urban air mobility, logistics drones, and aerial sensing, while fast and accurate beam prediction in uncrewed aerial vehicles (UAVs) communications is crucial for achieving…
The advent of autonomous driving and electrification is enabling the deployment of Electric Autonomous Mobility-on-Demand (E-AMoD) systems, whereby electric autonomous vehicles provide on-demand mobility. Crucially, the design of the…
Automated vehicles (AVs) are expected to be beneficial for Mobility-on-Demand (MoD), thanks to their ability of being globally coordinated. To facilitate the steady transition towards full autonomy, we consider the transition period of AV…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
In this paper, we investigate the social resource allocation in an emerging mobility system consisting of connected and automated vehicles (CAVs) using mechanism design. CAVs provide the most intriguing opportunity for enabling travelers to…
As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…