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We present flight patterns for a collision-free passage of swarms of drones through one or more openings. The narrow openings provide drones with access to an infrastructure component such as charging stations to charge their depleted…
This technical report describes GrADyS-SIM, a framework for simulating cooperating swarms of UAVs in joint mission in hypothetical landscape and communicating through RF radios. The framework was created to aid and verify the communication,…
Deployment of unmanned aerial vehicles (UAVs) performing as flying aerial base stations (BSs) has a great potential of adaptively serving ground users during temporary events, such as major disasters and massive events. However, planning an…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…
We treat a setting in which two priority wireless service classes are offered in a given area by a drone small cell (DSC). Specifically, we consider broadband (BB) user with high priority and reliability requirements that coexists with…
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…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
In the evolving era of Unmanned Aerial Vehicles (UAVs), the emphasis has moved from mere data collection to strategically obtaining timely and relevant data within the Internet of Drones (IoDs) ecosystem. However, the unpredictable…
Inspired by natural swarms, numerous control schemes enabling robotic swarms, mobile sensor networks and other multi-agent systems to exhibit various self-organized behaviors have been suggested. In this work, we present a Wave Oriented…
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper proposes a formation planning method guided by Deformable…
The popularity of drones is rapidly increasing across the different sectors of the economy. Aerial capabilities and relatively low costs make drones the perfect solution to improve the efficiency of those operations that are typically…
This study presents an advanced multi-view drone swarm imaging system for the three-dimensional characterization of smoke plume dispersion dynamics. The system comprises a manager drone and four worker drones, each equipped with…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
WLAN is one of the most successful applications of wireless communications in daily life because of low cost and ease of deployment. The enabling technique for this success is the use of random access schemes for the wireless channel.…
Wireless sensor networks (WSNs) are composed of spatially distributed sensors and are considered vulnerable to attacks by worms and their variants. Due to the distinct strategies of worms propagation, the dynamic behavior varies depending…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
We consider systems that are well modelled as a networks that evolve in time, which we call {\it Moving Neighborhood Networks}. These models are relevant in studying cooperative behavior of swarms and other phenomena where emergent…
Aerial base stations mounted on unmanned aerial vehicles (UAVs) support next-generation wireless networks in challenging environments such as urban areas, disaster zones, and remote locations. Further, UAV swarms overcome the challenges of…
There is increasing demand for control of multi-robot and as well distributing large amounts of content to cluster of Unmanned Aerial Vehicles (UAV) on the operation. In recent years several large-scale accidents have happened. To…