Related papers: Communications-Aware NMPC for Multi-Rotor Aerial R…
Efficient mobile jamming against eavesdroppers in wireless networks necessitates accurate coordination between mobility and antenna beamforming. We study the coordinated beamforming and control problem for a UAV that carries two…
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…
The deployment of unmanned aerial vehicle (UAV) swarm-assisted communication networks has become an increasingly vital approach for remediating coverage limitations in infrastructure-deficient environments, with especially pressing…
Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robotics. In this technical report, safety refers to ensuring…
For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates…
Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-manipulation tasks performed by legged robots introduce…
The automation of factories and manufacturing processes has been accelerating over the past few years, boosted by the Industry 4.0 paradigm, including diverse scenarios with mobile, flexible agents. Efficient coordination between mobile…
With the rapid advancement of vehicular communication facilities and autonomous driving technologies, connected vehicle platooning has emerged as a promising approach to improve traffic efficiency and driving safety. Reliable…
Efficient communication is critical for decentralized Multi-Robot Path Planning (MRPP), yet existing learned communication methods treat all neighboring robots equally regardless of their spatial proximity, leading to diluted attention in…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
This paper proposes a hierarchical trajectory planning framework for UAVs operating under adversarial jamming conditions. Leveraging Bayesian Active Inference, the approach combines expert-generated demonstrations with probabilistic…
This paper presents a communication and energy-aware multi-UAV Coverage Path Planning (mCPP) method for scenarios requiring continuous inter-UAV communication, such as cooperative search and rescue and surveillance missions. Unlike existing…
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant…
Conventional multiple-input multiple-output (MIMO) systems mainly rely on fixed antenna arrays, which limits their capability to adapt the effective channel matrix to the propagation environment. Rotatable antennas (RAs), which enable…
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring that both joint-level and end-effector trajectories remain…
Omnidirectional micro aerial vehicles (OMAVs) are more capable of doing environmentally interactive tasks due to their ability to exert full wrenches while maintaining stable poses. However, OMAVs often incorporate additional actuators and…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
In this paper, we investigate joint resource allocation and trajectory design for multi-user multi-target unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC). To improve sensing accuracy, the UAV is forced to…
This letter proposes a joint pilot and payload power allocation (JPA) scheme to mitigate the error propagation problem for uplink multiple-input multiple-output non-orthogonal multiple access (MIMO-NOMA) systems. A base station equipped…