Related papers: A Case Study in Recovery of Drones using Discrete-…
Despite achieving remarkable progress in recent years, single-image super-resolution methods are developed with several limitations. Specifically, they are trained on fixed content domains with certain degradations (whether synthetic or…
We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical…
Reinforcement learning (RL) has emerged as a potent paradigm for autonomous decision-making in complex environments. However, the integration of event-driven decision processes within RL remains a challenge. This paper presents a novel…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
In this paper, we study a security problem of protecting secrets in distributed systems. Specifically, we employ discrete-event systems to describe the structure and behaviour of distributed systems, in which global secret information is…
Unmanned Aerial Vehicles (UAVs), commonly known as drones, have experienced expanding use in urban environments in recent years. However, the growing density of drones raises significant challenges, such as avoiding collisions and managing…
This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
Collision avoidance algorithms are of central interest to many drone applications. In particular, decentralized approaches may be the key to enabling robust drone swarm solutions in cases where centralized communication becomes…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
This article presents a novel time-coordination algorithm based on event-triggered communication to ensure multiple UAVs progress along their desired paths in coordination with one another. In the proposed algorithm, a UAV transmits its…
In recent years, drone detection has quickly become a subject of extreme interest: the potential for fast-moving objects of contained dimensions to be used for malicious intents or even terrorist attacks has posed attention to the necessity…
We propose a novel concept of augmented reality (AR) human-drone interaction driven by RL-based swarm behavior to achieve intuitive and immersive control of a swarm formation of unmanned aerial vehicles. The DroneARchery system developed by…
This paper presents a UAV swarm system designed to assist first responders in disaster scenarios like wildfires. By distributing sensors across multiple agents, the system extends flight duration and enhances data availability, reducing the…
The capability of UAVs for efficient autonomous navigation and obstacle avoidance in complex and unknown environments is critical for applications in agricultural irrigation, disaster relief and logistics. In this paper, we propose the DPRL…
This paper studies the model of the probe-drogue aerial refueling system under aerodynamic disturbances, and proposes a docking control method based on terminal iterative learning control to compensate for the docking errors caused by…
In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…
Drone detection is the problem of finding the smallest rectangle that encloses the drone(s) in a video sequence. In this study, we propose a solution using an end-to-end object detection model based on convolutional neural networks. To…
Purpose: Curating large-scale datasets of operating room (OR) workflow, encompassing rare, safety-critical, or atypical events, remains operationally and ethically challenging. This data bottleneck complicates the development of ambient…
Autonomous drone racing (ADR) systems have recently achieved champion-level performance, yet remain highly specific to drone racing. While end-to-end vision-based methods promise broader applicability, no system to date simultaneously…
The growing deployment of drones in a myriad of applications relies on seamless and reliable wireless connectivity for safe control and operation of drones. Cellular technology is a key enabler for providing essential wireless services to…