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Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
Several constrained optimization problems have been adequately solved over the years thanks to advances in the metaheuristics area. In this paper, we evaluate a novel self-adaptive and auto-constructive metaheuristic called Drone Squadron…
Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…
Delivering a parcel from the distribution hub to the customer's doorstep is called the \textit{last-mile delivery} step in delivery logistics. In this paper, we study a hybrid {\it truck-drones} model for the last-mile delivery step, in…
In the Traveling Salesman Problem with Drones (TSP-mD), a truck and multiple drones cooperate to serve customers in the minimum amount of time. The drones are launched and retrieved by the truck at customer locations, and each of their…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
Small drones are an increasing threat to both military personnel and civilian infrastructure, making early and automated detection crucial. In this work we develop a system that uses spiking neural networks and neuromorphic cameras (event…
This paper formulates a team orienteering problem with multiple fixed-wing drones and develops a branch-and-price algorithm to solve the problem to optimality. Fixed-wing drones, unlike rotary drones, have kinematic constraints associated…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…
The application of drones in the last-mile distribution is a research hotspot in recent years. Different from the previous urban distribution mode that depends on trucks, this paper proposes a novel package pick-up and delivery mode and…
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…
Wind power is a clean and widely deployed alternative to reducing our dependence on fossil fuel power generation. Under this trend, more turbines will be installed in wind farms. However, the inspection of the turbines in an offshore wind…
The use of drone small cells (DSCs) which are aerial wireless base stations that can be mounted on flying devices such as unmanned aerial vehicles (UAVs), is emerging as an effective technique for providing wireless services to ground users…