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Unmanned aerial vehicles (UAVs) have become important in many applications including last-mile deliveries, surveillance and monitoring, and wireless networks. This paper aims to design UAV trajectories that simultaneously perform multiple…
The idea of deploying electric vehicles and unmanned aerial vehicles (UAVs), also known as drones, to perform "last-mile" delivery in logistics operations has attracted increasing attention in the past few years. In this paper, we propose…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
This research delves into advanced route optimization for robots in smart logistics, leveraging a fusion of Transformer architectures, Graph Neural Networks (GNNs), and Generative Adversarial Networks (GANs). The approach utilizes a…
Today's robotic systems are increasingly turning to computationally expensive models such as deep neural networks (DNNs) for tasks like localization, perception, planning, and object detection. However, resource-constrained robots, like…
In this paper, the design of an optimal trajectory for an energy-constrained drone operating in dynamic network environments is studied. In the considered model, a drone base station (DBS) is dispatched to provide uplink connectivity to…
The ubiquitous growth of mobility-on-demand services for passenger and goods delivery has brought various challenges and opportunities within the realm of transportation systems. As a result, intelligent transportation systems are being…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Companies like Amazon and UPS are heavily invested in last-mile delivery problems. Optimizing last-delivery operations not only creates tremendous cost savings for these companies but also generate broader societal and environmental…
In this paper, we present an approach to optimizing the last-mile delivery route of a truck using coordination with unmanned aerial vehicles (UAVs). First, a traveling salesman problem is formulated to determine the truck's route. Then, a…
Numerous high-thrust and low-thrust space propulsion technologies have been developed in the recent years with the goal of expanding space exploration capabilities; however, designing and optimizing a multi-mission campaign with both…
Drone delivery has been a hot topic in the industry in the past few years. However, existing approaches either focus on rural areas or rely on centralized drop-off locations from where the last mile delivery is performed. In this paper we…
Using drones for communications and transportation is drawing great attention in many practical scenarios, such as package delivery and providing additional wireless coverage. However, the increasing demand for UAVs from industry and…
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…
Drone swarms coupled with data intelligence can be the future of wildfire fighting. However, drone swarm firefighting faces enormous challenges, such as the highly complex environmental conditions in wildfire scenes, the highly dynamic…
The real challenge in drone-logistics is to develop an economically-feasible Unmanned Aerial Mobility Network (UAMN). In this paper, we propose an integrated airport location (strategic decision) and routes planning (operational decision)…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…