Related papers: Path Planning for Multi-Copter UAV Formation Emplo…
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
The advantages of evolutionary algorithms with respect to traditional methods have been greatly discussed in the literature. While particle swarm optimizers share such advantages, they outperform evolutionary algorithms in that they require…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…
In this study we address existing deficiencies in the literature on applications of Particle Swarm Optimization to generate optimal designs. We present the results of a large computer study in which we bench-mark both efficiency and…
Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
Airline Crew Pairing Optimization (CPO) aims at generating a set of legal flight sequences (crew pairings), to cover an airline's flight schedule, at minimum cost. It is usually performed using Column Generation (CG), a mathematical…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
In this paper, we employ multiple UAVs coordinated by a base station (BS) to help the ground users (GUs) to offload their sensing data. Different UAVs can adapt their trajectories and network formation to expedite data transmissions via…
In recent years, there has been a growing interest in using networks of Unmanned Aerial Vehicles (UAV) that collectively perform complex tasks for diverse applications. An important challenge in realizing UAV networks is the need for a…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability,…
Advanced Aerial Mobility encompasses many outstanding applications that promise to revolutionize modern logistics and pave the way for various public services and industry uses. However, throughout its history, the development of such…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…