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The detection of non-cooperative unmanned aerial vehicles (UAVs) presents significant challenges for Integrated Sensing and Communication (ISAC) systems due to the inherent limitations of single-modal perception and the competition for…
We present a new framework based on quantization theory to design cellular networks optimized for both legacy ground users and uncrewed aerial vehicle (UAV) corridors, dedicated aerial highways for safe UAV flights. Our framework leverages…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Multi-UAV cooperative path planning (MUCPP) is a fundamental problem in multi-agent systems, aiming to generate collision-free trajectories for a team of unmanned aerial vehicles (UAVs) to complete distributed tasks efficiently. A key…
This work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. Although the tailsitter configuration enables mechanically…
This paper investigates the robust and secure task transmission and computation scheme in multi-antenna unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) networks, where the UAV is dual-function, i.e., aerial MEC and aerial…
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…
It is becoming a key feature of UAV communication network to integrate sensing function into communication equipment to realize sensing communication integration.The existing perceptual communication fusion schemes focus on the design under…
Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…
Self-driving vehicles (SDVs) require accurate calibration of LiDARs and cameras to fuse sensor data accurately for autonomy. Traditional calibration methods typically leverage fiducials captured in a controlled and structured scene and…
Unmanned aerial vehicles (UAVs) have the potential to establish flexible and reliable emergency networks in disaster sites when terrestrial communication infrastructures go down. Nevertheless, potential security threats may occur on UAVs…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
It has been considered that urban air mobility (UAM), also known as drone-taxi or electrical vertical takeoff and landing (eVTOL), will play a key role in future transportation. By putting UAM into practical future transportation, several…
The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…
Agile maneuvering of the quadrotor cable-suspended system is significantly hindered by its non-smooth hybrid dynamics. While model-free Reinforcement Learning (RL) circumvents explicit differentiation of complex models, achieving…
One of the key enablers for the realization of a variety of unmanned aerial vehicle (UAV)-based systems is the high-performance communication system linking many UAVs and ground station. We have proposed a spectrum-efficient full-duplex…
Unmanned aerial vehicle (UAV) can provide superior flexibility and cost-efficiency for modern radar imaging systems, which is an ideal platform for advanced remote sensing applications using synthetic aperture radar (SAR) technology. In…