Related papers: DCP and VarDis: An Ad-Hoc Protocol Stack for Dynam…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
Vehicular ad hoc networks (VANETs) allow vehicles to exchange warning messages with each other. These specific kinds of networks help reduce hazardous traffic situations and improve safety, which are two of the main objectives in developing…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…
Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…
Uncrewed aerial vehicle (UAV) swarms are pivotal in the applications such as disaster relief, aerial base station (BS) and logistics transportation. These scenarios require the capabilities in accurate sensing, efficient communication and…
With the proliferation of wideband active services in bands shared with passive receivers for remote sensing and radio astronomy, new methods are needed for deconflicting active and passive users. We have developed a technique for…
Cognitive ad-hoc networks allow users to access an unlicensed/shared spectrum without the need for any coordination via a central controller and are being envisioned for futuristic ultra-dense wireless networks. The ad-hoc nature of…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Vehicular ad hoc networks (VANETs) are characterized by frequent routing path failures due to the high mobility caused by the sudden changes of the direction of vehicles. The routing paths between two different vehicles should be…
Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless…
Small drones are becoming a part of our everyday life. They are used in a wide variety of commercial applications, and the number of drones in the air is steadily growing. To ensure the safe operation of drones, traffic management rules…
In this paper we study the dynamic version of the covering problem motivated by the coverage of drones' swarm: Let $S$ be a set of $n$ non-negative weighted points in the plane representing users. Also, consider a set $P$ of $m$ disks that…
Unmanned Aerial Vehicles (UAVs) are evolving as adaptable platforms for a wide range of applications such as precise inspections, emergency response, and remote sensing. Autonomous UAV swarms require efficient and stable communication…
Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…
Autonomous Unmanned Aerial Vehicles (UAVs) have gained popularity due to their many potential application fields. Alongside sophisticated sensors, UAVs can be equipped with communication adaptors aimed for inter-UAV communication.…
Swarm and modular robotics are an emerging area in control of autonomous systems. However, coordinating a large group of interacting autonomous agents requires careful consideration of the logistical issues involved. In particular,…
Swarms of aerial drones have recently been considered for last-mile deliveries in urban logistics or automated construction. At the same time, collaborative transportation of payloads by multiple drones is another important area of recent…