Related papers: Decentralized Ergodic Coverage Control in Unknown …
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…
Efficiently obtaining the up-to-date information in the disaster-stricken area is the key to successful disaster response. Unmanned aerial vehicles (UAVs), workers and cars can collaborate to accomplish sensing tasks, such as data…
Autonomous unmanned aerial vehicle (UAV) swarm networks (UAVSNs) can effectively execute surveillance, connectivity, and computing services to ground users (GUs). These missions require trajectory planning, UAV-GUs association, task…
Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for tasks which require the acquisition of data over large areas. The coverage problem, i.e., the problem of periodically visiting all subregions of an area at a desired…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
This paper considers the problem of adaptively searching for an unknown target using multiple agents connected through a time-varying network topology. Agents are equipped with sensors capable of fast information processing, and we propose…
The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…
Unmanned aerial vehicles (UAVs) are envisioned to complement the 5G communication infrastructure in future smart cities. Hot spots easily appear in road intersections, where effective communication among vehicles is challenging. UAVs may…
Dangerous surroundings and difficult-to-reach landscapes introduce significant complications for adequate disaster management and recuperation. These problems can be solved by engaging unmanned aerial vehicles (UAVs) provided with embedded…
Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…
We propose a finite-state, decentralized decision and control framework for multi-agent ground coverage. The approach decomposes the problem into two coupled components: (i) the structural design of a deep neural network (DNN) induced by…
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…
This research addresses the challenge of executing multi-UAV survey missions over diverse terrains characterized by varying elevations. The approach integrates advanced two-dimensional ergodic search technique with model predictive control…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…