Related papers: Dynamic real-time multi-UAV cooperative mission pl…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…
In this paper, we propose a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing, communication, and computation network. Specifically, the treble-functional UAVs are capable of offering communication and edge computing services…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
Augmenting wireless networks with Unmanned Aerial Vehicles (UAVs), commonly referred to as drones, offers a promising avenue for providing reliable, cost-effective, and on-demand wireless services to desired areas. However, existing UAV…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address…
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…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
In emergency scenarios, the dynamic and harsh conditions necessitate timely trajectory adjustments for drones, leading to highly dynamic network topologies and potential task failures. To address these challenges, a collaborative computing…
A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spatial modeling and linear programming. The decoupling step…
Unmanned Aerial Vehicles (UAVs) have emerged as a key enabler for next-generation wireless networks due to their on-demand deployment, high mobility, and ability to provide Line-of-Sight (LoS) connectivity. These features make UAVs…
Multi-Agent Path Finding (MAPF) remains a fundamental challenge in robotics, where classical centralized approaches exhibit exponential growth in joint-state complexity as the number of agents increases. This paper investigates Quadratic…
In this paper, we consider an unmanned aerial vehicle (UAV)-enabled emergency communication system, which establishes temporary communication link with users equipment (UEs) in a typical disaster environment with mountainous forest and…
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…
This paper is concerned with the minimum-time path-planning problem for a Dubins airplane under the influence of steady wind. The path-planning problem, by transforming into the air-relative frame, is equivalent to finding the minimum-time…