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This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…

Orthogonality constraints naturally appear in many machine learning problems, from principal component analysis to robust neural network training. They are usually solved using Riemannian optimization algorithms, which minimize the…

Unmanned Aerial Vehicles (UAVs), commonly known as drones, have experienced expanding use in urban environments in recent years. However, the growing density of drones raises significant challenges, such as avoiding collisions and managing…

Drones have attracted growing interest in last-mile delivery due to their potential to significantly reduce costs and enhance operational flexibility, particularly in areas of sparse and uncertain demand where traditional truck delivery…

The growing ubiquity of drones has raised concerns over the ability of traditional air-space monitoring technologies to accurately characterise such vehicles. Here, we present a CNN using a decision tree and ensemble structure to fully…

Joint parcel delivery by trucks and drones has enjoyed significant attention for some time, as the advantages of one delivery method offset the disadvantages of the other. This paper focuses on the vehicle routing problem with drones and…

In this paper, we address the Continuous Multifacility Monotone Ordered Median Problem. This problem minimizes a monotone ordered weighted median function of the distances between given demand points in $\mathbb{R}^d$ and its closest…

In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…

The use of drones or Unmanned Aerial Vehicles (UAVs) for aerial photography and cinematography is becoming widespread. The following optimization problem has been recently considered. Let us imagine a sporting event where a group of runners…

Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…

Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…

Drones are becoming indispensable in many application domains. In data-driven missions, besides sensing, the drone must process the collected data at runtime to decide whether additional action must be taken on the spot, before moving to…

Many core problems in robotics can be framed as constrained optimization problems. Often on these problems, the robotic system has uncertainty, or it would be advantageous to identify multiple high quality feasible solutions. To enable…

This paper presents a new approach for formulating the delivery problem by drones with general energy consumption models where the drones visit a set of places to deliver parcels to customers. Drones can perform multiple trips that start…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

Aerial drones offer a distinct potential to reduce the delivery time and energy consumption for the delivery of time-sensitive and small products. However, there is still a need in the relevant industry to understand the performance of…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

Once known to be used exclusively in military domain, unmanned aerial vehicles (drones) have stepped up to become a part of new logistic method in commercial sector called "last-mile delivery". In this novel approach, small unmanned aerial…

In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…

This paper considers the optimization problems that arise to coordinate a tandem between a mothership vehicle and a fleet of drones. %more than one drone. Each drone can be launched from the mothership to perform an operation. After…