Related papers: EAAE: Energy-Aware Autonomous Exploration for UAVs…
This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…
Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…
Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of sampling-based works have shown success in exploring static…
This paper studies a heterogeneous Unmanned Aerial Vehicles (UAVs) cooperative search approach suitable for complex environments. In the application, a fixed-wing UAV drops rotor UAVs to deploy the cluster rapidly. Meanwhile, the fixed-wing…
During the last few years, the use of Unmanned Aerial Vehicles (UAVs) equipped with sensors and cameras has emerged as a cutting-edge technology to provide services such as surveillance, infrastructure inspections, and target acquisition.…
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…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
We investigate the problem of energy-constrained planning for a cooperative system of an Unmanned Ground Vehicles (UGV) and an Unmanned Aerial Vehicle (UAV). In scenarios where the UGV serves as a mobile base to ferry the UAV and as a…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
In this paper, we propose a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing, communication, and computation network. Specifically, the treble-functional UAVs are capable of offering communication and edge computing services…
Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or flight-only designs in terms of energy savings and increased mobility. In this work we outline our unified framework for controls, planning, and autonomy…
In this work, we optimize the 3D trajectory of an unmanned aerial vehicle (UAV)-based portable access point (PAP) that provides wireless services to a set of ground nodes (GNs). Moreover, as per the Peukert effect, we consider pragmatic…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
The rise of sixth-generation (6G) wireless networks sets high demands on UAV-assisted Free Space Optical (FSO) communications, where the channel environment becomes more complex and variable due to both atmospheric turbulence and…
This paper develops a fast numerical dual control for exploration and exploitation (DCEE) method to address auto-optimization problems in unknown environments. In auto-optimization problems, the optimal operating condition is unknown a…
On-board battery consumption, cellular disconnectivity, and frequent handoff are key challenges for unmanned aerial vehicle (UAV) based delivery missions, a.k.a., cargo-UAV. Indeed, with the introduction of UAV technology into cargo…
Exploration of unknown environments is crucial for autonomous robots; it allows them to actively reason and decide on what new data to acquire for different tasks, such as mapping, object discovery, and environmental assessment. Existing…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…
An unmanned aerial vehicle (UAV)-aided mobile edge computing (MEC) framework is proposed, where several UAVs having different trajectories fly over the target area and support the user equipments (UEs) on the ground. We aim to jointly…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…