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In a near future drones are likely to become a viable way of distributing parcels in a urban environment. In this paper we consider the parallel drone scheduling traveling salesman problem, where a set of customers requiring a delivery is…
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…
In intensity-modulated radiation therapy, optimal intensity distributions of incoming beams are decomposed into linear combinations of leaf openings of a multileaf collimator (segments). In order to avoid inefficient dose delivery, the…
This paper investigates the pursuit-evasion problem of a defensive gun turret and one or more attacking drones. The turret must ``visit" each attacking drone once, as quickly as possible, to defeat the threat. This constitutes a Shortest…
This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Drones have attracted growing interest in last-mile delivery due to their potential to significantly reduce costs and enhance operational flexibility, particularly in areas of sparse and uncertain demand where traditional truck delivery…
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…
Drone base stations can assist cellular networks in a variety of scenarios. To serve the maximum number of users in an area without apriori user distribution information, we proposed a two-stage algorithm to find the optimal deployment of…
Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
Problem definition: Drones, despite being acknowledged as a transformative force in the city logistics sector, are unable to execute the \textit{last-meter delivery} (unloading goods directly to customers' doorsteps) due to airspace…
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first variant while the robot is allowed to visit the waypoints in…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…