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The growing integration of urban air mobility (UAM) for urban transportation and delivery has accelerated due to increasing traffic congestion and its environmental and economic repercussions. Efficiently managing the anticipated…
Combining an energy-efficient drone with a high-capacity truck for last-mile package delivery can benefit operators and customers by reducing delivery times and environmental impact. However, directly integrating drone flight dynamics into…
Aircraft design relies heavily on solving challenging and computationally expensive Multidisciplinary Design Optimization problems. In this context, there has been growing interest in multi-fidelity models for Bayesian optimization to…
Congestion pricing policies have emerged as promising traffic management tools to alleviate traffic congestion caused by travelers' selfish routing behaviors. The core principle behind deploying tolls is to impose monetary costs on…
This paper presents a method for simultaneous optimization of the outer shape and internal topology of aircraft wings, with the objective of minimizing drag subject to lift and compliance constraints for multiple load cases. The physics are…
Urban Air Mobility (UAM) is an emerging transportation paradigm in which Uncrewed Aerial Systems (UAS) autonomously transport passengers and goods in cities. The UAS have different operators with different, sometimes competing goals, yet…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
The transportation system is an interplay between infrastructure, vehicles, and policy. During the past century, the rapid expansion of the road network, blended with increasing vehicle production and mobility demands, has been stressing…
The rise of the low-altitude economy (LAE) is propelling urban development and emerging industries by integrating advanced technologies to enhance efficiency, safety, and sustainability in low-altitude operations. The widespread adoption of…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
The ecological transition and the reduction of pollution are reasons for the use of green logistic and non-polluting vehicles. In this sense, electric vehicles are an alternative and in recent years many technological advances have been…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
This paper addresses the pressing challenge of urban mobility in the context of growing urban populations, changing demand patterns for urban mobility, and emerging technologies like Mobility-on-Demand (MoD) platforms and Autonomous Vehicle…
Optimal transport has recently been brought forward as a tool for modeling and efficiently solving a variety of flow problems, such as origin-destination problems and multi-commodity flow problems. Although the framework has shown to be…
Urban air mobility (UAM), as envisioned by aviation professionals, will transport passengers and cargo at low altitudes within urban and suburban areas. To operate in urban environments, precise air traffic management, in particular the…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimization on these computing resources is computationally…