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This paper introduces the BOW Planner, a scalable motion planning algorithm designed to navigate robots through complex environments using constrained Bayesian optimization (CBO). Unlike traditional methods, which often struggle with…

Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…

This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…

We consider a multi-agent system where agents compete for the access to the radio resource. By combining some application-level parameters, such as the resilience, with a knowledge of the radio environment, we propose a new way of modeling…

The ability to efficiently plan and execute search missions in challenging and complex environments during natural and man-made disasters is imperative. In many emergency situations, precise navigation between obstacles and time-efficient…

For typical applications of UAVs in power grid scenarios, we construct the problem as planning UAV trajectories for coverage in cluttered environments. In this paper, we propose an optimal smooth coverage trajectory planning algorithm. The…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

Terrestrial robots, i.e., unmanned ground vehicles (UGVs), and aerial robots, i.e., unmanned aerial vehicles (UAVs), operate in separate spaces. To exploit their complementary features (e.g., fields of views, communication links, computing…

Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…

With the advancements achieved in drones' flexibility, low cost, and high efficiency, they obtain huge application opportunities in various industries, such as aerial delivery and future communication networks. However, the increasing…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

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…

The use of Unmanned Aerial Vehicles (UAVs) for collecting data from remotely located sensor systems is emerging. The data can be time-sensitive and require to be transmitted to a data processing center. However, planning the trajectory of a…

Particle Swarm Optimisation (PSO) is a powerful optimisation algorithm that can be used to locate global maxima in a search space. Recent interest in swarms of Micro Aerial Vehicles (MAVs) begs the question as to whether PSO can be used as…

Recent years have witnessed increasingly more uses of Unmanned Aerial Vehicle (UAV) swarms for rapidly providing wireless coverage to ground users. Each UAV is constrained in its energy storage and wireless coverage, and it consumes most…

The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…

Unmanned aerial vehicle (UAV) techniques have developed rapidly within the past few decades. Using UAVs provides benefits in numerous applications such as site surveying, communication systems, parcel delivery, target tracking, etc. The…

This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…

Advanced Aerial Mobility encompasses many outstanding applications that promise to revolutionize modern logistics and pave the way for various public services and industry uses. However, throughout its history, the development of such…

Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…