Related papers: Connectivity Preserving Decentralized UAV Swarm Na…

The advancement in cyber-physical systems has opened a new way in disaster management and rescue operations. The usage of UAVs is very promising in this context. UAVs, mainly quadcopters, are small in size and their payload capacity is…

Integrated communication and sensing, which can make full use of the limited spectrum resources to perform communication and sensing tasks simultaneously, is an up-and-coming technology in wireless communication networks. In this work, we…

This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…

This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state estimation. The main challenge arises from the need to…

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…

This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…

Safety has been of paramount importance in motion planning and control techniques and is an active area of research in the past few years. Most safety research for mobile robots target at maintaining safety with the notion of collision…

Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and…

In this work, we address the trajectory optimization of a fixed-wing unmanned aerial vehicle (UAV) using free space optical communication (FSOC). Here, we focus on maximizing the flight time of the UAV by considering practical constraints…

This study proposes an approach for establishing an optimal multihop ad-hoc network using multiple unmanned aerial vehicles (UAVs) to provide emergency communication in disaster areas. The approach includes two stages, one uses particle…

We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that…

This paper investigates a new scenario of spectrum sharing between unmanned aerial vehicle (UAV) and terrestrial wireless communication, in which a cognitive/secondary UAV transmitter communicates with a ground secondary receiver (SR), in…

In this paper, we propose an unmanned aerial vehicle (UAV)-assisted federated learning (FL) framework that jointly optimizes UAV trajectory, user participation, power allocation, and data volume control to minimize overall system energy…

Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…

Unmanned aerial vehicles (UAVs) have gained a lot of popularity in diverse wireless communication fields. They can act as high-altitude flying relays to support communications between ground nodes due to their ability to provide…

An unmanned aerial vehicle (UAV)-aided secure communication system is conceived and investigated, where the UAV transmits legitimate information to a ground user in the presence of an eavesdropper (Eve). To guarantee the security, the UAV…

Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…

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…

Unmanned aerial vehicle (UAV) swarm has emerged as a promising novel paradigm to achieve better coverage and higher capacity for future wireless network by exploiting the more favorable line-of-sight (LoS) propagation. To reap the potential…

This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…