相关论文: Decentralized dynamic task allocation for UAVs wit…
Connected and autonomous vehicles across land, water, and air must often operate in dynamic, unpredictable environments with limited communication, no centralized control, and partial observability. These real-world constraints pose…
Cooperative UAV networks are becoming increasingly popular in military and civilian applications. Alas, the typical ad-hoc routing protocols, which aim at finding the shortest path, lead to significant performance degradation because of the…
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
The Orienteering Problem (OP) is a well-studied routing problem that has been extended to incorporate uncertainties, reflecting stochastic or dynamic travel costs, prize-collection costs, and prizes. Existing approaches may, however, be…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents…
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…
Unmanned aerial vehicles (UAV) have emerged as a practical solution that provides on-demand services to users in areas where the terrestrial network is non-existent or temporarily unavailable, e.g., due to natural disasters or network…
In recent years, unmanned aerial vehicles (UAVs) assisted mobile edge computing systems have been exploited by researchers as a promising solution for providing computation services to mobile users outside of terrestrial infrastructure…
This work studies the application of Multi-Agent Reinforcement Learning (MARL) to decentralized control of unmanned aerial vehicles to relay a critical data package to a known position. For this purpose, a family of deterministic games is…
To accomplish various tasks, safe and smooth control of unmanned aerial vehicles (UAVs) needs to be guaranteed, which cannot be met by existing ultra-reliable low latency communications (URLLC). This has attracted the attention of the…
This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
Unmanned aerial vehicles (UAVs) are seen as a promising technology to perform a wide range of tasks in wireless communication networks. In this work, we consider the deployment of a group of UAVs to collect the data generated by IoT…
We introduce a mission planning concept for routing unmanned aerial vehicles (UAVs) through a set of sampling locations in the immediate aftermath of an incident such as a fire or chemical accident. Using interpolation methods that account…
Unmanned aerial vehicles (UAVs) have emerged as the potential aerial base stations (BSs) to improve terrestrial communications. However, the limited onboard energy and antenna power of a UAV restrict its communication range and transmission…