相关论文: Multi-UAV-based Optimal Crop-dusting of Anomalousl…

To efficiently manage plant diseases, Agriculture Cyber-Physical Systems (A-CPS) have been developed to detect and localize disease infestations by integrating the Internet of Agro-Things (IoAT). By the nature of plant and pathogen…

This paper studies an unmanned aerial vehicle (UAV)-enabled wireless sensor network, in which one UAV flies in the sky to collect the data transmitted from a set of ground nodes (GNs) via distributed beamforming. We consider two scenarios…

We consider the covariance steering problem for nonlinear control-affine systems. Our objective is to find an optimal control strategy to steer the state of a system from an initial distribution to a target one whose mean and covariance are…

This work describes the orchestration of a fleet of rotary-wing Unmanned Aerial Vehicles (UAVs) for harvesting prioritized traffic from random distributions of heterogeneous users with Multiple Input Multiple Output (MIMO) capabilities. In…

We present a method to solve fractional optimal control problems, where the dynamic depends on integer and Caputo fractional derivatives. Our approach consists to approximate the initial fractional order problem with a new one that involves…

We study optimal control of diffusions with slow and fast variables and address a question raised by practitioners: is it possible to first eliminate the fast variables before solving the optimal control problem and then use the optimal…

We present a method to infer the arbitrary space-dependent drift and diffusion of a nonlinear stochastic model driven by multiplicative fractional Gaussian noise from a single trajectory. Our method, fractional Onsager-Machlup optimisation…

In this paper, we consider stochastic coverage of bounded domains by a diffusing swarm of robots that take local measurements of an underlying scalar field. We introduce three control methodologies with diffusion, advection, and reaction as…

We present a novel method for estimation of the fiber orientation distribution (FOD) function based on diffusion-weighted Magnetic Resonance Imaging (D-MRI) data. We formulate the problem of FOD estimation as a regression problem through…

Pathogenic fungi are a leading cause of crop disease and primarily spread through microscopic, durable spores adapted differentially for both persistence and dispersal. Computational Earth System Models and air pollution models have been…

Humanitarian logistics operations face increasing difficulties due to rising demands for aid in disaster areas. This paper investigates the dynamic allocation of scarce relief supplies across multiple affected districts over time. It…

This paper studies an unmanned aerial vehicle (UAV) position and attitude sensing problem, where a base station equipped with an antenna array transmits signals to a predetermined potential flight region of a flying UAV, and exploits the…

UAV-based image retrieval in modern agriculture enables gathering large amounts of spatially referenced crop image data. In large-scale experiments, however, UAV images suffer from containing a multitudinous amount of crops in a complex…

The use of pesticides for enhancing crop yield and preventing infestations is a widespread agricultural practice. However, in recent years, there has been a growing shift toward traditional chemical-free organic farming. Regulatory…

This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…

This paper studies a distributed online convex optimization problem, where agents in an unbalanced network cooperatively minimize the sum of their time-varying local cost functions subject to a coupled inequality constraint. To solve this…

Guided diffusion is a technique for conditioning the output of a diffusion model at sampling time without retraining the network for each specific task. One drawback of diffusion models, however, is their slow sampling process. Recent…

This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…

We consider a stationary prey in a given region of space and we aim at detecting optimal foraging strategies. On the one hand, when the prey is uniformly distributed, the best possible strategy for the forager is to be stationary and…