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This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…

As Urban Air Mobility (UAM) and Advanced Air Mobility (AAM) continue to mature, a safety-critical system that will need to be implemented in tandem is Remote Identification (Remote ID) for uncrewed aircraft systems (UAS). To ensure…

This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…

Unmanned aerial vehicles (UAVs) are being utilized for a wide spectrum of applications in wireless networks leading to attractive business opportunities. In the case of abrupt disruption to existing cellular network operation or…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…

Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…

Unmanned Aerial Vehicles (UAVs), have greatly revolutionized the process of gathering and analyzing data in diverse research domains, providing unmatched adaptability and effectiveness. This paper presents a thorough examination of Unmanned…

In this work, we study the trade-off between the reliability and the investment cost of an unmanned aerial system (UAS) consisting of a set of unmanned aerial vehicles (UAVs) carrying radio access nodes, called portable access points…

Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…

Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…

This study proposes an efficient data collection strategy exploiting a team of Unmanned Aerial Vehicles (UAVs) to monitor and collect the data of a large distributed sensor network usually used for environmental monitoring, meteorology,…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…

Optimal deployment and movement of multiple unmanned aerial vehicles (UAVs) is studied. The considered scenario consists of several ground terminals (GTs) communicating with the UAVs using variable transmission power and fixed data rate.…

In recent years, using a network of autonomous and cooperative unmanned aerial vehicles (UAVs) without command and communication from the ground station has become more imperative, in particular in search-and-rescue operations, disaster…

We pose a new and intriguing question motivated by distributed computing regarding random walks on graphs: How long does it take for several independent random walks, starting from the same vertex, to cover an entire graph? We study the…

In this paper, we present an overview of different types of random walk strategies with local and non-local transitions on undirected connected networks. We present a general approach to analyzing these strategies by defining the dynamics…

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…

The use of unmanned aerial vehicles (UAVs) is growing rapidly across many civil application domains including real-time monitoring, providing wireless coverage, remote sensing, search and rescue, delivery of goods, security and…