Related papers: Communications-Aware NMPC for Multi-Rotor Aerial R…
Due to the recent developments in the field of full-duplex radios and cognitive radios, a new class of reactive jamming attacks has gained attention wherein an adversary transmits jamming energy over the victim's frequency band and also…
Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…
With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…
This paper investigates a low-altitude integrated sensing and communication (ISAC) system that leverages cooperative rotatable active and passive arrays. We consider a downlink scenario where a base station (BS) with an active rotatable…
Swarm aerial robots are required to maintain close proximity to successfully traverse narrow areas in cluttered environments. However, this movement is affected by the downwash effect generated from other quadrotors in the swarm. This…
This paper investigates a new scenario of spectrum sharing between unmanned aerial vehicle (UAV) and terrestrial wireless communication, in which a cognitive/secondary UAV transmitter communicates with a ground secondary receiver (SR), in…
Recently proposed multiple input multiple output radars based on matrix completion (MIMO-MC) employ sparse sampling to reduce the amount of data that need to be forwarded to the radar fusion center, and as such enable savings in…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
In this paper, we consider the problem of multi-unmanned aerial vehicles' scheduling for cooperative jamming, where UAVs equipped with directional antennas perform collaborative jamming tasks against several targets of interest. To ensure…
Unmanned Aerial Vehicle communications are encountering increasingly severe multi-source interference challenges in dynamic adversarial environments, which impose higher demands on their reliability and resilience. To address these…
High-speed vehicular environments require optical systems capable of joint sensing, positioning, and communication (JSPC) without mechanical tracking. Existing optical and integrated sensing-communication approaches often rely on…
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across…
Recently, dual-function radar communication (DFRC) systems have been proposed to integrate radar and communication into one platform for spectrum sharing. Various signalling strategies have been proposed to embed communication information…
Autonomous Unmanned Aerial Vehicle (UAV) swarms are increasingly used as rapidly deployable aerial relays and sensing platforms, yet practical deployments must operate under partial observability and intermittent peer-to-peer links. We…
This paper proposes an adaptive tube-based nonlinear model predictive control (AT-NMPC) approach to the design of autonomous cruise control (ACC) systems. The proposed method utilizes two separate models to define the constrained receding…
We present Contingency Model Predictive Control (CMPC), a novel and implementable control framework which tracks a desired path while simultaneously maintaining a contingency plan -- an alternate trajectory to avert an identified potential…
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…
Safe and precise reference tracking is a crucial characteristic of MAVs that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a NMPC that exploits the fully physics based…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…