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Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
Due to the advantages of flexible deployment and extensive coverage, unmanned aerial vehicles (UAVs) have great potential for sensing applications in the next generation of cellular networks, which will give rise to a cellular Internet of…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
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…
The agile mobility of Unmanned Aerial Vehicles (UAVs) makes them ideal for low-altitude edge computing. This paper proposes a novel multi-tier UAV edge computing system where lightweight Low-Tier UAVs (L-UAVs) function as edge servers for…
This paper investigates a joint hybrid digital-analog beamforming and trajectory design for a cell-free multi-static integrated sensing and communication (ISAC) system supported by multiple unmanned aerial vehicles (UAVs). Specifically,…
Urban Air Mobility (UAM) has emerged as a transformative solution to alleviate urban congestion by utilizing low-altitude airspace, thereby reducing pressure on ground transportation networks. To enable truly efficient and seamless…
This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible…
This paper develops a high-density air corridor traffic flow model for Uncrewed Aircraft System (UAS) operation in urban low altitude airspace. To maximize throughput with safe separation guarantees, we define an airspace spatiotemporal…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…
This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…
The emerging low-altitude economy has catalyzed the large-scale deployment of unmanned aerial vehicles (UAVs), driving a paradigm shift in environment monitoring, logistics, and emergency response. However, operating within these…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
Urban Air Mobility is a new concept of regional aviation that has been growing in popularity as a solution to the issue of ever-increasing ground traffic. Electric vehicles with vertical take-off and landing capabilities are being developed…
Unmanned aerial vehicles (UAVs) are reaching offshore. In this work, we formulate the novel problem of a marine locomotive quadrotor UAV, which manipulates the surge velocity of a floating buoy by means of a cable. The proposed robotic…
Recently unmanned aerial vehicles (UAV) have been widely deployed in various real-world scenarios such as disaster rescue and package delivery. Many of these working environments are unstructured with uncertain and dynamic obstacles. UAV…
This paper addresses the challenge of energy-constrained maritime monitoring networks by proposing an unmanned aerial vehicle (UAV)-enabled integrated sensing, communication, powering and backhaul transmission scheme with a tailored…