相关论文: A Planning Framework for Persistent, Multi-UAV Cov…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Unmanned aerial vehicles (UAVs) have gained a lot of popularity in diverse wireless communication fields. They can act as high-altitude flying relays to support communications between ground nodes due to their ability to provide…
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based…
Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…
Unmanned Aerial Vehicles (UAVs) have been implemented for environmental monitoring by using their capabilities of mobile sensing, autonomous navigation, and remote operation. However, in real-world applications, the limitations of on-board…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
Uncrewed aerial vehicles (UAVs) play a pivotal role in ensuring seamless connectivity for Internet of Things (IoT) devices, particularly in scenarios where conventional terrestrial networks are constrained or temporarily unavailable.…
Developing aerial robots that can both safely navigate and execute assigned mission without any human intervention - i.e., fully autonomous aerial mobility of passengers and goods - is the larger vision that guides the research, design, and…
In this paper, the efficient deployment of multiple unmanned aerial vehicles (UAVs) with directional antennas acting as wireless base stations that provide coverage for ground users is analyzed. First, the downlink coverage probability for…
In unseen and complex outdoor environments, collision avoidance navigation for unmanned aerial vehicle (UAV) swarms presents a challenging problem. It requires UAVs to navigate through various obstacles and complex backgrounds. Existing…
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of…
Suitably equipped with cameras and sensors, uncrewed aerial vehicles (UAVs) can be instrumental for wildfire prediction, tracking, and monitoring, provided that uninterrupted connectivity can be guaranteed even if some of the ground access…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
Fast moving unmanned aerial vehicles (UAVs) are well suited for aerial surveillance, but are limited by their battery capacity. To increase their endurance UAVs can be refueled on slow moving unmanned ground vehicles (UGVs). The cooperative…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…