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Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is…
Multi-agent collaboration enhances situational awareness in intelligence, surveillance, and reconnaissance (ISR) missions. Ad hoc networks of unmanned aerial vehicles (UAVs) allow for real-time data sharing, but they face security…
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…
This paper studies the control problem for safety-critical multi-agent systems based on quadratic programming (QP). Each controlled agent is modeled as a cascade connection of an integrator and an uncertain nonlinear actuation system. In…
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Unmanned aerial vehicles (UAVs) are pivotal for future 6G non-terrestrial networks, yet their high mobility creates a complex coupled optimization problem for beamforming and trajectory design. Existing numerical methods suffer from…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…
We consider the problem of designing scalable and portable controllers for unmanned aerial vehicles (UAVs) to reach time-varying formations as quickly as possible. This brief confirms that deep reinforcement learning can be used in a…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
This paper proposes a method for the deployment of a multi-agent system of unmanned aerial vehicles (UAVs) as a shield with potential applications in the protection of infrastructures. The shield shape is modeled as a quadric surface in the…
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…
We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…