Related papers: Cooperative Detour Planning for Dual-Task Drone Fl…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
This paper introduces decentralized control concepts for drones using differential game theory. The approach optimizes the behavior of an ego drone, assuming the anticipated behavior of the opponent drones using a receding horizon approach.…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
Traffic Congestions and accidents are major concerns in today's transportation systems. This thesis investigates how to optimize traffic flow on highways, in particular for merging situations such as intersections where a ramp leads onto…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Tracking congestion throughout the network road is a critical component of Intelligent transportation network management systems. Understanding how the traffic flows and short-term prediction of congestion occurrence due to rush-hour or…
This paper proposes a coordinated energy-mobility dispatch framework for grid support service provision in smart cities under time constraints. In particular, a scenario in which a distributed system operator requests a specified amount of…
Rapid urbanization places increasing stress on already burdened transportation systems, resulting in delays and poor levels of service. Billions of spatiotemporal call detail records (CDRs) collected from mobile devices create new…
We introduce a package service model where trucks as well as drones can deliver packages. Drones can travel on trucks or fly; but while flying, drones can only carry one package at a time and have to return to a truck to charge after each…
Given a fleet of drones with different speeds and a set of package delivery requests, the collaborative delivery problem asks for a schedule for the drones to collaboratively carry out all package deliveries, with the objective of…
Cellular networks are ubiquitous entities that provide major means of communication all over the world. One major challenge in cellular networks is a dynamic change in the number of users and their usage of telecommunication service which…
Future wireless network technology provides automobiles with the connectivity feature to consolidate the concept of vehicular networks that collaborate on conducting cooperative driving tasks. The full potential of connected vehicles, which…
Humanitarian logistics service providers have two major responsibilities immediately after a disaster: locating trapped people and routing aid to them. These difficult operations are further hindered by failures in the transportation and…
Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators),…
In this paper we demonstrate how one of the most powerful methods in mathematics and statistics can be used to optimally control and reduce traffics in smart cities. The main goal of the present work is to use the least squares method [5]…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…