Related papers: Optimal Delivery with a Faulty Drone
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…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
In this paper, we present a drone-based delivery system that assumes to deal with two different mixed-areas, i.e., rural and urban. In these mixed-areas, called EM-grids, the distances are measured with two different metrics, and the…
We propose an uncertainty-aware service approach to provide drone-based delivery services called Drone-as-a-Service (DaaS) effectively. Specifically, we propose a service model of DaaS based on the dynamic spatiotemporal features of drones…
Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…
Whether for their maneuverability, autonomy or ergonomics, convertible UAVs, meaning those with the ability to take off or land vertically and fly like an airplane, present many interests. However, their dynamics are complicated by various…
In order to respond effectively in the aftermath of a disaster, emergency services and relief organizations rely on timely and accurate information about the affected areas. Remote sensing has the potential to significantly reduce the time…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
We propose a novel framework for composing Swarm-based Drone-as-a-Service (SDaaS) for delivery. Two composition approaches, i.e., sequential and parallel are designed considering the different behaviors of drone swarms. The proposed…
With the increase in use of Unmanned Aerial Vehicles (UAVs)/drones, it is important to detect and identify causes of failure in real time for proper recovery from a potential crash-like scenario or post incident forensics analysis. The…
We present a formal mathematical multi-agent modeling framework for autonomously combating a wildland fire with unmanned aerial vehicles. The problem is formulated as a collaboration between a drone and a helicopter equipped with a tanker.…
Unmanned aerial vehicle (UAV), or drone is increasingly becoming a promising tool in communication system. This report explains the generation details of a dataset which will be used to designing an algorithm for the optimal placement of…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
Drones are not fully trusted yet. Their reliance on radios and cameras for navigation raises safety and privacy concerns. These systems can fail, causing accidents, or be misused for unauthorized recordings. Considering recent regulations…
Agility and resilience requirements of future cellular networks may not be fully satisfied by terrestrial base stations in cases of unexpected or temporary events. A promising solution is assisting the cellular network via low-altitude…
Imagine an island modeled as a simple polygon $\P$ with $n$ vertices whose coastline we wish to monitor. We consider the problem of building the minimum number of refueling stations along the boundary of $\P$ in such a way that a drone can…
This paper studies the trajectory optimization problem in a scenario where a single rotary-wing UAV acts as a relay of data payloads for downlink transmission requests generated randomly by two ground nodes (GNs) in a wireless network. The…