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Unmanned aerial vehicles (UAVs) have the potential to establish flexible and reliable emergency networks in disaster sites when terrestrial communication infrastructures go down. Nevertheless, potential security threats may occur on UAVs…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
As the automotive industry transitions toward centralized Linux-based architectures, ensuring the predictable execution of mixed-criticality applications becomes essential. However, concurrent use of the Linux network stack introduces…
Coordinated missions involving Unmanned Aerial Vehicles (UAVs) in dynamic environments pose significant challenges in maintaining both coordination and agility. In this paper, relying on the cooperative path following framework and using a…
Urban Air Mobility (UAM) is expected to effectively complement the existing transportation system by providing fast and safe travel options, contributing to decarbonization, and providing benefits to citizens and communities. A preliminary…
Advanced Air Mobility (AAM) is the next generation of air transportation that includes new entrants such as electric vertical takeoff and landing (eVTOL) aircraft, increasingly autonomous flight operations, and small UAS package delivery.…
This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial 3D printing. The proposed framework formulates an…
Majority of aircraft under the Urban Air Mobility (UAM) concept are expected to be of the electric vertical takeoff and landing (eVTOL) vehicle type, which will operate out of vertiports. While this is akin to the relationship between…
Urban Air Mobility, the scenario where hundreds of manned and Unmanned Aircraft System (UAS) carry out a wide variety of missions (e.g. moving humans and goods within the city), is gaining acceptance as a transportation solution of the…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
High-tech giants and start-ups are investing in drone technologies to provide urban air delivery service, which is expected to solve the last-mile problem and mitigate road traffic congestion. However, air delivery service will not scale up…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
This paper studies collective motion optimization of a fleet of UAVs flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body, thus, UAV coordination is defined by a homeomorphic…
Due to the stochastic nature of departure operations, working at full capacity makes major US airports very sensitive to uncertainties. Consequently, airport ground operations face critically congested taxiways and long runway queues. In…
This paper confronts the pressing challenges of sixth-generation (6G) wireless communication networks by harnessing the unique capabilities of Unmanned Aerial Vehicles (UAVs). With the ambitious promises of 6G, including ultra-reliable 1…
Aerial networks, composed of Unmanned Aerial Vehicles (UAVs) acting as Wi-Fi access points or cellular base stations, are emerging as an interesting solution to provide on-demand wireless connectivity to users, when there is no network…
Swarm trajectory optimization problems are a well-recognized class of multi-agent optimal control problems with strong nonlinearity. However, the heuristic nature of needing to set the final time for agents beforehand and the time-consuming…
In the context of autonomous driving on expressways, the issue of ensuring safe and efficient ramp merging remains a significant challenge. Existing systems often struggle to accurately assess the status and intentions of other vehicles,…