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Unmanned aerial vehicle (UAV)-based base stations offer a promising solution in emergencies where the rapid deployment of cutting-edge networks is crucial for maximizing life-saving potential. Optimizing the strategic positioning of these…
Conventional object detection models inevitably encounter a performance drop as the domain disparity exists. Unsupervised domain adaptive object detection is proposed recently to reduce the disparity between domains, where the source domain…
Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while…
With the increasing use of autonomous unmanned aerial vehicles (UAVs), it is critical to ensure that they are continuously tracked and controlled, especially when UAVs operate beyond the communication range of ground stations (GSs).…
The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
This paper introduces the deployment of unmanned aerial vehicles (UAVs) as lightweight wireless access points that leverage the fixed infrastructure in the context of the emerging open radio access network (O-RAN). More precisely, we…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Owing to the enhanced flexibility in deployment and decreasing costs of manufacturing, the demand for unmanned aerial vehicles (UAVs) is expected to soar in the upcoming years. In this paper, we explore a UAV aided search and rescue~(SAR)…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
This paper proposes a control algorithm for a UAV to circumnavigate an unknown target at a fixed radius when the location information of the UAV is unavailable. By assuming that the UAV has a constant velocity, the control algorithm makes…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
This paper presents real-time guidance strategies for unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies, periodic…
This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…
Dangerous surroundings and difficult-to-reach landscapes introduce significant complications for adequate disaster management and recuperation. These problems can be solved by engaging unmanned aerial vehicles (UAVs) provided with embedded…
In this paper, we focus on the potential use of unmanned aerial vehicles (UAVs) for search and rescue (SAR) missions in GPS-denied indoor environments. We consider the problem of navigating a UAV to a wireless signal source, e.g., a…