相关论文: Signal-based self-organization of a chain of UAVs …

This paper presents an algorithmic framework for the distributed on-line source seeking, termed as 'DoSS', with a multi-robot system in an unknown dynamical environment. Our algorithm, building on a novel concept called dummy confidence…

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…

This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…

Recently, Unmanned Aerial Vehicles (UAVs) have shown impressive performance in many critical applications, such as surveillance, search and rescue operations, environmental monitoring, etc. In many of these applications, the UAVs capture…

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…

We explore an end-to-end (including access and backhaul links) UAV-assisted wireless communication system, considering both uplink and downlink traffics, with the goal of supporting demand of the Ground Users (GUs) using the minimum number…

This paper studies the problem of spectrum shortage in an unmanned aerial vehicle (UAV) network during critical missions such as wildfire monitoring, search and rescue, and disaster monitoring. Such applications involve a high demand for…

Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…

Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for tasks which require the acquisition of data over large areas. The coverage problem, i.e., the problem of periodically visiting all subregions of an area at a desired…

This paper investigates the use of an unmanned aerial vehicle (UAV) to assist covert communication between a low-Earth orbit (LEO) satellite and a ground user under the surveillance of a passive warden. The UAV simultaneously serves its own…

This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…

Besides being part of the Internet of Things (IoT), drones can play a relevant role in it as enablers. The 3D mobility of UAVs can be exploited to improve node localization in IoT networks for, e.g., search and rescue or goods localization…

In this paper, we investigate resource allocation design for unmanned aerial vehicle (UAV)-enabled communication systems, where a UAV is dispatched to provide communications to multiple user nodes. Our objective is to maximize the…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

One of the key enablers for the realization of a variety of unmanned aerial vehicle (UAV)-based systems is the high-performance communication system linking many UAVs and ground station. We have proposed a spectrum-efficient full-duplex…

Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…