相关论文: SuMo-SS: Submodular Optimization Sensor Scattering…

Drone swarms are required for the simultaneous delivery of multiple packages. We demonstrate a multi-stop drone swarm-based delivery in a smart city. We leverage formation flying to conserve energy and increase the flight range of a drone…

Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…

Several situations exist where a geographic region of some size needs to be scanned or monitored through many sensors. Still, it is either absolutely impossible or prohibitively expensive to deploy and maintain wireless communication…

The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…

This paper addresses the problem of optimizing sensor deployment locations to reconstruct and also predict a spatiotemporal field. A novel deep learning framework is developed to find a limited number of optimal sampling locations and based…

The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms, including ground and aerial vehicles, can support longer…

A new method for optimal sensor placement based on variable importance of machine learned models is proposed. With its simplicity, adaptivity, and low computational cost, the method offers many advantages over existing approaches. The new…

Drones are effective for reducing human activity and interactions by performing tasks such as exploring and inspecting new environments, monitoring resources and delivering packages. Drones need a controller to maintain stability and to…

Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

In this paper we study the dynamic version of the covering problem motivated by the coverage of drones' swarm: Let $S$ be a set of $n$ non-negative weighted points in the plane representing users. Also, consider a set $P$ of $m$ disks that…

Wireless mobile sensor networks (WMSNs) are groups of mobile sensing agents with multi-modal sensing capabilities that communicate over wireless networks. WMSNs have more flexibility in terms of deployment and exploration abilities over…

Learning priors on trajectory distributions can help accelerate robot motion planning optimization. Given previously successful plans, learning trajectory generative models as priors for a new planning problem is highly desirable. Prior…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

Automatic Dependent Surveillance Broadcast (ADS-B) sensors deployed on the ground are central to observing aerial movements of aircraft. Their unsystematic placement, however, results in over-densification of sensor coverage in some areas…

For autonomous navigation and robotic applications, sensing the environment correctly is crucial. Many sensing modalities for this purpose exist. In recent years, one such modality that is being used is in-air imaging sonar. It is ideal in…

In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…

Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation…

We propose a novel framework for composing Swarm-based Drone-as-a-Service (SDaaS) for delivery. Two composition approaches, i.e., sequential and parallel are designed considering the different behaviors of drone swarms. The proposed…

Uncontrolled emissions of gases from industrial accidents and disasters result in huge loss of life and property. Such extreme events require a quick and reliable survey of the site for effective rescue strategy planning. To achieve these…