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Wildland fire fighting is a very dangerous job, and the lack of information of the fire front is one of main reasons that causes many accidents. Using unmanned aerial vehicle (UAV) to cover wildfire is promising because it can replace human…

We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…

Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the fa\c{c}ade inspection is among the most promising ones. In this paper, we focus on enabling the autonomous perception and control of…

Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…

Autonomous Unmanned Aerial Vehicles (UAVs) have gained popularity due to their many potential application fields. Alongside sophisticated sensors, UAVs can be equipped with communication adaptors aimed for inter-UAV communication.…

This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…

Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…

This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…

Motivated by the theoretical interest in reconstructing long 3D trajectories of individual birds in large flocks, we developed CoMo, a co-moving camera system of two synchronized high speed cameras coupled with rotational stages, which…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the…

The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…

Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of remote sensing missions such as target search and tracking, mapping, or surveillance monitoring. In the first part of our paper we consider agent dynamics,…

By using wireless connectivity through cellular base stations (BSs), swarms of unmanned aerial vehicles (UAVs) can provide a plethora of services ranging from delivery of goods to surveillance. In particular, UAVs in a swarm can utilize…

Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…

Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state…

Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…

In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…

This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…

One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…