相关论文: Risk Sensitive Rendezvous Algorithm for Heterogene…
Vehicle automation is driving the integration of advanced sensors and new applications that demand high-quality information, such as collaborative sensing for enhanced situational awareness. In this work, we considered a vehicular sensing…
In this paper a convergent, nearest-neighbor, control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with a single…
We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…
Urban Air Mobility (UAM) envisions aerial corridors for Unmanned Aerial Vehicles (UAVs) to reduce ground traffic congestion by supporting 3D mobility, such as air taxis. A key challenge in these high-mobility aerial corridors is ensuring…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
We study a resource allocation problem for the cooperative aerial-ground vehicle routing application, in which multiple Unmanned Aerial Vehicles (UAVs) with limited battery capacity and multiple Unmanned Ground Vehicles (UGVs) that can also…
Ubiquitous mobile computing have enabled ride-hailing services to collect vast amounts of behavioral data of riders and drivers and optimize supply and demand matching in real time. While these mobility service providers have some degree of…
Ensuring safe separation between aircraft is a critical challenge in air traffic management, particularly in urban air mobility (UAM) environments where high traffic density and low altitudes require precise control. In these environments,…
We propose a novel failure-aware reactive UAV delivery service composition framework. A skyway network infrastructure is presented for the effective provisioning of services in urban areas. We present a formal drone delivery service model…
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
Small Unmanned Aircraft Systems (sUAS) will be an important component of the smart city and intelligent transportation environments of the near future. The demand for sUAS related applications, such as commercial delivery and land…
Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap…
Unmanned Aerial Vehicles (UAVs) have drastically gained popularity in various Intelligent Transportation System (ITS) applications to improve the safety and efficiency of transportation systems. In this context, the combination of ground…
In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…
Unmanned aerial vehicles (UAVs) have significant practical advantages for delivering packages, and many logistics companies have begun deploying UAVs for commercial package deliveries. To deliver packages quickly and cost-effectively, the…
Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
A fundamental maneuver in autonomous space operations is known as rendezvous, where a spacecraft navigates to and approaches another spacecraft. In this case study, we present linear and nonlinear benchmark models of an active chaser…