相关论文: Tackling Air Traffic Conflicts as a Weighted CSP :…

This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…

In this paper, we consider an unmanned aerial vehicle-enabled interference channel (UAV-IC), where each of the $K$ UAVs communicates with its associated ground terminals (GTs) at the same time and over the same spectrum. To exploit the new…

This article explores an approach to addressing the Close Enough Traveling Salesman Problem (CETSP). The objective is to streamline the mathematical formulation by introducing reformulations that approximate the Euclidean distances and…

Multi-UAV cooperative path planning (MUCPP) is a fundamental problem in multi-agent systems, aiming to generate collision-free trajectories for a team of unmanned aerial vehicles (UAVs) to complete distributed tasks efficiently. A key…

Path planning for multiple unmanned aerial vehicles is a difficult task, and even more for a fleet of fixed-wing aircraft. One specific case is the transition to, or between, formation flight patterns, which requires synchronous arrivals…

This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently…

This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…

A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…

For multiple Unmanned-Aerial-Vehicles (UAVs) assisted Mobile Edge Computing (MEC) networks, we study the problem of combined computation and communication for user equipments deployed with multi-type tasks. Specifically, we consider that…

With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…

This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…

A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…

An exciting frontier in robotic manipulation is the use of multiple arms at once. However, planning concurrent motions is a challenging task using current methods. The high-dimensional composite state space renders many well-known motion…

A variant of the well-known Assignment Problem is studied in this paper, where pairs of assignments are conflicting, and cannot be selected at the same time. This configures a set of hard constraints. The problem, which models real…

The problem of Multi-Agent Path Finding (MAPF) calls for finding a set of conflict-free paths for a fleet of agents operating in a given environment. Arguably, the state-of-the-art approach to computing optimal solutions is Conflict-Based…

The Flying Sidekick Traveling Salesman Problem (FSTSP) considers a delivery system composed by a truck and a drone. The drone launches from the truck with a single package to deliver to a customer. Each drone must return to the truck to…

We show that certain ways of solving some combinatorial optimization problems can be understood as using query planes to divide the space of problem instances into polyhedra that could fit into those that characterize the problem's various…

The issues in air traffic control have so far been addressed with the intent to improve resource utilization and achieve an optimized solution with respect to fuel comsumption of aircrafts, efficient usage of the available airspace with…

Leading proposals for Advanced Air Mobility (AAM) recognize the need for strategic and tactical airspace deconfliction, where the need for coordination appears in different forms and nuances. One recurring element is the use of pre-defined…

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…