Related papers: Communications-Aware NMPC for Multi-Rotor Aerial R…
[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive…
This thesis presents a unified control framework for agile and fault-tolerant flight of the Multi-Modal Mobility Morphobot (M4) in aerial mode. The M4 robot is capable of transitioning between ground and aerial locomotion. The articulated…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
Unmanned Aerial Vehicle (UAV) swarms represent a key advancement in autonomous systems, enabling coordinated missions through inter-UAV communication. However, their reliance on wireless links makes them vulnerable to jamming, which can…
Precise trajectory tracking is a crucial property for \acp{MAV} to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for…
Cellular systems are vulnerable to jamming attacks, especially smart jammers that choose their jamming policies such as the jamming channel frequencies and power based on the ongoing communication policies and network states. In this…
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle chain connected by rigid links, modeled…
In mobile systems with low-altitude vehicles, integrated sensing and communication (ISAC) is considered an effective approach to increase the transmission rate due to limited spectrum resources. To further improve the ISAC performance, this…
In this paper, the multi-target tracking (MTT) with an unmanned aerial vehicle (UAV) swarm is investigated in the presence of jammers, where UAVs in the swarm communicate with each other to exchange information of targets during tracking.…
Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…
This work studies the uplink of grant-free low data-rate massive machine-to-machine communications (mMTC) where devices are only active sporadically, which requires a joint activity and data detection at the receiver. We develop an adaptive…
Millimeter-wave (mmWave) joint communication-radar (JCR) will enable high data rate communication and high-resolution radar sensing for applications such as autonomous driving. Prior JCR systems that are based on the mmWave communications…
Reactive jammers pose a severe security threat to robotic-swarm networks by selectively disrupting inter-agent communications and undermining formation integrity and mission success. Conventional countermeasures such as fixed power control…
In this letter, we investigate an unmanned aerial vehicle (UAV) communication system, where an intelligent reflecting surface (IRS) is deployed to assist in the transmission from a ground node (GN) to the UAV in the presence of a jammer. We…
Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…
Geometry-morphing Micro Aerial Vehicles (MAVs) are gaining more and more attention lately, since their ability to modify their geometric morphology in-flight increases their versatility, while expanding their application range. In this…
In complex urban environments, dynamic obstacles and multipath effects lead to significant link attenuation and pervasive coverage blind spots. Conventional approaches based on large-scale fixed antenna arrays and UAV trajectory…
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…
This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…
Integrated sensing and communication (ISAC) systems promise efficient spectrum utilization by jointly supporting radar sensing and wireless communication. This paper presents a deep learning-driven framework for enhancing physical-layer…