Related papers: Connectivity Preserving Decentralized UAV Swarm Na…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…
We consider the merging control problem for Connected and Automated Vehicles (CAVs) aiming to jointly minimize travel time and energy consumption while providing speed-dependent safety guarantees and satisfying velocity and acceleration…
Unmanned aerial vehicles (UAVs) have gained considerable attention as a platform for establishing aerial wireless networks and communications. However, the line-of-sight dominance in air-to-ground communications often leads to significant…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
This paper presents a novel approach to haptic teleoperation. Specifically, we use control barrier functions (CBFs) to generate force feedback to help human operators safely fly quadrotor UAVs. CBFs take a control signal as input and output…
Cellular-connected unmanned aerial vehicles (UAVs) are expected to play an increasingly important role in future wireless networks. To facilitate the reliable navigation for cellular-connected UAVs, channel knowledge map (CKM) is considered…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
The rapid advancement of Internet of Things (IoT) services and the evolution toward the sixth generation (6G) have positioned unmanned aerial vehicles (UAVs) as critical enablers of low-altitude wireless networks (LAWNs). This work…
Unmanned aerial vehicle (UAV) swarms utilizing collaborative beamforming (CB) in low-altitude wireless networks (LAWN) demonstrate significant potential for enhanced communication range, energy efficiency, and signal directivity through the…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring the safety of human workers in dynamic, shared spaces remains…
Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…
Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle avoidance by enabling precise and agile trajectory tracking,…
Integrating the unmanned aerial vehicles (UAVs) into the cellular network is envisioned to be a promising technology to significantly enhance the communication performance of both UAVs and existing terrestrial users. In this paper, we first…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…
Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…
Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…