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Wireless communication networks have been witnessing an unprecedented demand due to the increasing number of connected devices and emerging bandwidth-hungry applications. Albeit many competent technologies for capacity enhancement purposes,…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…
Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…
In this paper, we focus on a typical cooperative communication system with one pair of source and destination, where a unmanned aerial vehicle (UAV) flying from a start location to an end location serves as a mobile relay. To efficiently…
Efficient mission planning for cooperative systems involving Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) requires addressing energy constraints, scalability, and coordination challenges between agents. UAVs excel in…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper is concerned with the issue of improving video subscribers' quality of experience (QoE) by deploying a multi-unmanned aerial vehicle (UAV) network. Different from existing works, we characterize subscribers' QoE by video…
Edge sensing and computing is rapidly becoming part of intelligent infrastructure architecture leading to operational reliance on such systems in disaster or emergency situations. In such scenarios there is a high chance of power supply…
Wildfires represent an important natural risk causing economic losses, human death and important environmental damage. In recent years, we witness an increase in fire intensity and frequency. Research has been conducted towards the…
This paper studies collective motion optimization of a fleet of UAVs flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body, thus, UAV coordination is defined by a homeomorphic…
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 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…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
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…
We present an energy-aware collaborative exploration framework for a UAV-UGV team operating in unknown environments, where the UAV's energy constraint is modeled as a maximum flight-time limit. The UAV executes a sequence of energy-bounded…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
UAVs are playing an increasingly important role in the field of wilderness rescue by virtue of their flexibility. This paper proposes a fusion of UAV vision technology and satellite image analysis technology for active wildfires detection…