Related papers: Multi-UAVs end-to-end Distributed Trajectory Gener…
Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best…
The unmanned aerial vehicle (UAV) based multi-access edge computing (MEC) appears as a popular paradigm to reduce task processing latency. However, the secure offloading is an important issue when occurring aerial eavesdropping. Besides,…
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…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
To prolong the lifetime of the unmanned aerial vehicles (UAVs), the UAVs need to fulfill their missions in the shortest possible time. In addition to this requirement, in many applications, the UAVs require a reliable internet connection…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…
The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…
We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…
C-ADMM is a well-known distributed optimization framework due to its guaranteed convergence in convex optimization problems. Recently, C-ADMM has been studied in robotics applications such as multi-vehicle target tracking and collaborative…
Unmanned aerial vehicles (UAVs) have attracted significant interest recently in assisting wireless communication due to their high maneuverability, flexible deployment, and low cost. This paper considers a multi-UAV enabled wireless…
Over-the-air computation (AirComp) seamlessly integrates communication and computation by exploiting the waveform superposition property of multiple-access channels. Different from the existing works that focus on transceiver design of…
In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
In unseen and complex outdoor environments, collision avoidance navigation for unmanned aerial vehicle (UAV) swarms presents a challenging problem. It requires UAVs to navigate through various obstacles and complex backgrounds. Existing…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
In this work, we investigate the problem of an online trajectory design for an Unmanned Aerial Vehicle (UAV) in a Federated Learning (FL) setting where several different communities exist, each defined by a unique task to be learned. In…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…