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The real-time unmanned aerial vehicle (UAV) trajectory design of secure integrated sensing and communication (ISAC) is optimized. In particular, the UAV serves both as a downlink transmitter and a radar receiver. The legitimate user (Bob)…
In this project, we attempt to optimize a landing trajectory of a rocket. The goal is to minimize the total fuel consumption during the landing process using different techniques. Once the optimal and feasible trajectory is generated using…
Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…
Artificial intelligence-powered pocket-sized air robots have the potential to revolutionize the Internet-of-Things ecosystem, acting as autonomous, unobtrusive, and ubiquitous smart sensors. With a few cm$^{2}$ form-factor, nano-sized…
This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling,…
In this paper, we study a joint detection, mapping and navigation problem for a single unmanned aerial vehicle (UAV) equipped with a low complexity radar and flying in an unknown environment. The goal is to optimize its trajectory with the…
This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment…
The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…
Autonomous UAV racing has recently emerged as an interesting research problem. The dream is to beat humans in this new fast-paced sport. A common approach is to learn an end-to-end policy that directly predicts controls from raw images by…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
This paper presents a novel approach for aerial drone autonomous navigation along predetermined paths using only visual input form an onboard camera and without reliance on a Global Positioning System (GPS). It is based on using a deep…
Many different species are adversely affected by poaching. In response to this escalating crisis, efforts to stop poaching using hidden cameras, drones and DNA tracking have been implemented with varying degrees of success. Limited…
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
We present a path planning framework that takes into account the human's safety perception in the presence of a flying robot. The framework addresses two objectives: (i) estimation of the uncertain parameters of the proposed safety…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
Accurate estimation and prediction of trajectory is essential for interception of any high speed target. In this paper, an extended Kalman filter is used to estimate the current location of target from its visual information and then…