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This paper investigates robust tube-based Model Predictive Control (MPC) of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft subject to wind disturbances and model uncertainty. Our approach is based on a Difference of Convex (DC)…
Strategic Traffic Management Initiatives (TMIs) such as Ground Delay Programs (GDPs) play a crucial role in mitigating operational costs associated with air traffic demand-capacity imbalances. However, GDPs can only be planned (e.g.,…
This study presents a comprehensive computational investigation of outwash phenomena generated by electric vertical takeoff and landing (eVTOL) aircraft, with particular emphasis on how rotor geometry and alignment shape hazardous airflow…
Due to a substantial growth in the world waterborne trade volumes and drastic changes in the global climate accounted for CO2 emissions, the shipping companies need to escalate their operational and energy efficiency. Therefore, a…
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…
Electric vertical takeoff and landing (eVTOL) aircraft operating in high-density urban airspace must maintain safe separation through tactical conflict resolution, yet the energy cost of such maneuvers has not been systematically…
To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…
This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…
Hybrid fuel Unmanned Aerial Vehicles (UAV), through their combination of multiple energy sources, offer several advantages over the standard single fuel source configuration, the primary one being increased range and efficiency. Multiple…
In the unsplittable capacitated vehicle routing problem, we are given a metric space with a vertex called depot and a set of vertices called terminals. Each terminal is associated with a positive demand between 0 and 1. The goal is to find…
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of the…
Optimization modeling via mixed-integer linear programming (MILP) is fundamental to industrial planning and scheduling, yet translating natural-language requirements into solver-executable models and maintaining them under evolving business…
Vehicular edge computing is a new distributed processing architecture that exploits the revolution in the processing capabilities of vehicles to provide energy efficient services and low delay for Internet of Things (IoT)-based systems.…
This article presents a novel stream function-based navigational control system for obstacle avoidance, where obstacles are represented as two-dimensional (2D) rigid surfaces in inviscid, incompressible flows. The approach leverages the…
Microtransit and other flexible transit fleet services can reduce costs by incorporating transfers. However, transfers are costly to users if they must get off a vehicle and wait at a stop for another pickup. A mixed integer linear…
Modular vehicles (MV) possess the ability to physically connect/disconnect with each other and travel in platoon with less energy consumption. A fleet of demand-responsive transit vehicles with such technology can serve passengers door to…
Shared Mobility Services (SMSs) are transforming urban transportation systems by offering flexible travel options. These services, which help reduce the number of cars on the roads, have the potential to enhance the transportation system's…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
The demand for real-time visual understanding and interaction in complex scenarios is increasingly critical for unmanned aerial vehicles. However, a significant challenge arises from the contradiction between the high computational cost of…
In this paper, we consider the Delay Constrained Unsplittable Shortest Path Routing problem which arises in the field of traffic engineering for IP networks. This problem consists, given a directed graph and a set of commodities, to compute…