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Unmanned aerial vehicles (UAVs) are a convenient choice for carrying mobile base stations to rapidly setup communication services for ground users. Unlike terrestrial networks, UAVs do not have fiber optic back-haul connectivity except when…
Unmanned Aerial Vehicles (UAVs) dynamic encirclement is an emerging field with great potential. Researchers often get inspiration from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world…
\textsc{Arbitrary Pattern Formation} is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
We bound the time it takes for a group of birds to reach steady state in a standard flocking model. We prove that (i) within single exponential time fragmentation ceases and each bird settles on a fixed flying direction; (ii) the flocking…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
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…
We consider a remote sensing system in which fixed sensors are placed in a region, and a drone flies over the region to collect information from cluster heads. We assume that the drone has a fixed maximum range, and that the energy…
As drones increasingly deliver packages in neighborhoods, concerns about collisions arise. One solution is to share flight paths within a specific zip code, but this compromises business privacy by revealing delivery routes. For example, it…
The use of amateur drones (ADrs) is expected to significantly increase over the upcoming years. However, regulations do not allow such drones to fly over all areas, in addition to typical altitude limitations. As a result, there is an…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
Inspired by birds flying through cluttered environments such as dense forests, this paper studies the theoretical foundations of a novel motion planning problem: high-speed navigation through a randomly-generated obstacle field when only…
This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…
Drones will play an essential role in human-machine teaming in future search and rescue (SAR) missions. We present a first prototype that finds people fully autonomously in densely occluded forests. In the course of 17 field experiments…
The advancement of autonomous drones, essential for sectors such as remote sensing and emergency services, is hindered by the absence of training datasets that fully capture the environmental challenges present in real-world scenarios,…