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Drones are vital for urban emergency search and rescue (SAR) due to the challenges of navigating dynamic environments with obstacles like buildings and wind. This paper presents a method that combines multi-objective reinforcement learning…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
The use of drones in a wide range of applications is steadily increasing. However, this has also raised critical security concerns such as unauthorized drone intrusions into restricted zones. Therefore, robust and accurate drone detection…
In this paper, the problem of drone-assisted collaborative learning is considered. In this scenario, swarm of intelligent wireless devices train a shared neural network (NN) model with the help of a drone. Using its sensors, each device…
Enabling cellular connectivity for drones introduces a wide set of challenges and opportunities. Communication of cellular-connected drones is influenced by 3-dimensional mobility and line-of-sight channel characteristics which results in…
Flying drones can be used in a wide range of applications and services from surveillance to package delivery. To ensure robust control and safety of drone operations, cellular networks need to provide reliable wireless connectivity to drone…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
This paper explores how a flying drone can autonomously navigate while constructing a narrowband radio map for signal localization. As flying drones become more ubiquitous, their wireless signals will necessitate new wireless technologies…
Recent advances in robotics bring us closer to the reality of living, co-habiting, and sharing personal spaces with robots. However, it is not clear how close a co-located robot can be to a human in a shared environment without making the…
This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…
Thanks to the recent advancements in drone technology, it has become viable and cost-effective to quickly deploy small cells in areas of urgent needs by using a drone as a cellular base station. In this paper, we explore the benefit of…
Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…
Air ducts are integral to modern buildings but are challenging to access for inspection. Small quadrotor drones offer a potential solution, as they can navigate both horizontal and vertical sections and smoothly fly over debris. However,…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
To improve capacity and overcome some of the limitations of cellular wireless networks, drones with aerial base stations can be deployed to assist the terrestrial cellular wireless networks. The mobility of drones allows flexible network…
Drones are becoming increasingly used in a wide variety of industries and services and are delivering profound socioeconomic benefits. Technology needs to be in place to ensure safe operation and management of the growing fleet of drones.…
The flight of a quadcopter drone, readily available as a toy, is analyzed using simple physics concepts. A smartphone with built-in accelerometer and gyroscope was attached to the drone to register the accelerations and angular velocities…
The next era of information revolution will rely on aggregating big data from massive numbers of devices that are widely scattered in our environment. Most of these devices are expected to be of low-complexity, low-cost, and limited power…
Autonomous drone racing has gained attention for its potential to push the boundaries of drone navigation technologies. While much of the existing research focuses on racing in obstacle-free environments, few studies have addressed the…