相关论文: Design Automation and Optimization Methodology for…

In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a…

With the high flexibility of supporting resource-intensive and time-sensitive applications, unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) is proposed as an innovational paradigm to support the mobile users (MUs). As a…

We propose an integrated control architecture to address the gap that currently exists for efficient real-time implementation of MPC-based control approaches for highly nonlinear systems with fast dynamics and a large number of control…

We consider the problem of optimally designing a system for repeated use under uncertainty. We develop a modeling framework that integrates design and operational phases, which are represented by a mixed-integer program and discounted-cost…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

We present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…

In this paper, we propose a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing, communication, and computation network. Specifically, the treble-functional UAVs are capable of offering communication and edge computing services…

Additive manufacturing has become one of the forefront technologies in fabrication, enabling new products impossible to manufacture before. Although many materials exist for additive manufacturing, they typically suffer from performance…

We present a bottleneck analysis tool for designing compute systems for autonomous Unmanned Aerial Vehicles (UAV). The tool provides insights by exploiting the fundamental relationships between various components in the autonomous UAV such…

In this study, we develop an innovative data-driven optimization approach to solve the drone delivery service planning problem with online demand. Drone-based logistics are expected to improve operations by enhancing flexibility and…

Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…

Mobile agent networks, such as multi-UAV systems, are constrained by limited resources. In particular, limited energy affects system performance directly, such as system lifetime. It has been demonstrated in the wireless sensor network…

Multidisciplinary engineering system design typically employs a sequential process, progressing from system dynamics to design variables and control. However, this process is inefficient and may lead to a suboptimal design. We propose…

Time-optimal path planning in high winds for a turning-rate constrained UAV is a challenging problem to solve and is important for deployment and field operations. Previous works have used trochoidal path segments comprising straight and…

The unmanned aerial vehicle (UAV) has emerged as a promising solution to provide delivery and other mobile services to customers rapidly, yet it drains its stored energy quickly when travelling on the way and (even if solar-powered) it…

This paper studies a rechargeable unmanned aerial vehicle (UAV) assisted wireless network, where a UAV is dispatched to disseminate information to a group of ground terminals (GTs) and returns to a recharging station (RS) before the…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

This paper introduces a methodology designed to augment the inverse design optimization process in scenarios constrained by limited compute, through the strategic synergy of multi-fidelity evaluations, machine learning models, and…

Unmanned aerial vehicles (UAVs), especially multicopters, have recently gained popularity for use in surveillance, monitoring, inspection, and search and rescue missions. Their maneuverability and ability to operate in confined spaces make…