Related papers: Enhancing Multirotor Drone Efficiency: Exploring M…
This paper presents a time-efficient scheme for Mars exploration by the cooperation of multiple drones and a rover. To maximize effective coverage of the Mars surface in the long run, a comprehensive framework has been developed with joint…
Autonomous driving lacks strong proof of energy efficiency with the energy-model-agnostic trajectory planning. To achieve an energy consumption model-aware trajectory planning for autonomous driving, this study proposes an online nonlinear…
Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory…
Drone-based rapid and accurate environmental edge detection is highly advantageous for tasks such as disaster relief and autonomous navigation. Current methods, using radars or cameras, raise deployment costs and burden lightweight drones…
This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…
Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…
In robotics and biomechanics, trading metabolic cost for kinematic readiness is a well-established principle. This paper formalizes this concept for aerial multirotors through the introduction of aerodynamic promptness -- a dynamic metric…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
A lot of UAV applications require vertical take-off and landing (VTOL) combined with very long-range or endurance. Transitioning UAVs have been proposed to combine the VTOL capabilities of helicopters with the efficient long-range flight…
This paper studies a new unmanned aerial vehicle (UAV)-enabled wireless power transfer (WPT) system, where a UAV-mounted mobile energy transmitter (ET) is dispatched to deliver wireless energy to a set of on-ground energy receivers (ERs).…
The low-altitude economy (LAE), driven by unmanned aerial vehicles (UAVs) and other aircraft, has revolutionized fields such as transportation, agriculture, and environmental monitoring. In the upcoming six-generation (6G) era, UAV-assisted…
State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
The research presents an automated method for determining the trajectory of an unmanned aerial vehicle (UAV) for wind turbine inspection. The proposed method enables efficient data collection from multiple wind installations using UAV…
Vertical take-off and landing (VTOL) aircraft do not require a prolonged runway, thus allowing them to land almost anywhere. In recent years, their flexibility has made them popular in development, research, and operation. When compared to…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
This paper investigates joint antenna selection and optimal transmit power in multi cell massive multiple input multiple output systems. The pilot interference and activated transmit antenna selection plays an essential role in maximizing…
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…
Aerial vehicles have recently attracted significant attention in a variety of commercial and civilian applications due to their high mobility, flexible deployment and cost-effectiveness. To leverage these promising features, the aerial…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…