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Connectivity maintenance is an essential task in multi-robot systems and it has received a considerable attention during the last years. A connected system can be broken into two or more subsets simply if a single robot fails. A more robust…

Brain-controlled unmanned aerial vehicle (uav) is a uav that can analyze human brain electrical signals through BCI to obtain flight commands. The research of brain-controlled uav can promote the integration of brain-computer and has a…

A high performance multi-UAV communication system, which bridges multiple UAVs and ground station, is one of the key enablers to realize a variety of UAV-based systems. To address the issues such as the low spectrum efficiency caused by the…

In this paper, a combat Unmanned Air Vehicle (UAV) is modeled in the simulation environment. The rotary wing UAV is successfully performed various tasks such as locking on the targets, tracking, and sharing the relevant data with…

Drone fleets, with counts on the order of O(100) to O(1000), will play important and significant roles in the automation of the deployment, operation, maintenance and repair of ubiquitous and pervasive landscape scale elongated structures,…

Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…

Cooperative ad hoc unmanned aerial vehicle (UAV) networks need essential security services to ensure their communication security. Cryptography, as the inseparable tool for providing security services, requires a robust key management…

In this paper, we propose a distributed version of the Hungarian Method to solve the well known assignment problem. In the context of multi-robot applications, all robots cooperatively compute a common assignment that optimizes a given…

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…

In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…

Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…

This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing 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…

We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the…

Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators),…

The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…

In this paper, we propose a control law for camera-equipped drone networks to pursue a target rigid body with unknown motion based on distributed Gaussian process. First, we consider the situation where each drone has its own dataset, and…

The network connectivity in a group of cooperative robots can be easily broken if one of them loses its connectivity with the rest of the group. In case of having robustness with respect to one-robot-fail, the communication network is…

Heterogeneous teams of Unmanned Aerial Vehicles (UAVs) can enhance the exploration capabilities of aerial robots by exploiting different strengths and abilities of varying UAVs. This paper presents a novel method for exploring unknown…

We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary modes of transit en route to their own destinations. Such…