相关论文: Energy-Aware Stochastic UAV-Assisted Surveillance

Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…

This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…

In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…

Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…

Stochastic dynamical systems have emerged as fundamental models across numerous application domains, providing powerful mathematical representations for capturing uncertain system behavior. In this paper, we address the problem of runtime…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

Wireless access points on unmanned aerial vehicles (UAVs) are being considered for mobile service provisioning in commercial networks. To be able to efficiently use these devices in cellular networks it is necessary to first have a…

We introduce weighted Markovian graphs, a random walk model that decouples the transition dynamics of a Markov chain from (random) edge weights representing the cost of traversing each edge. This decoupling allows us to study the…

In this paper, we consider a UAV-enabled MEC platform that serves multiple mobile ground users with random movements and task arrivals. We aim to minimize the average weighted energy consumption of all users subject to the average UAV…

Unmanned aerial vehicle (UAV) can provide superior flexibility and cost-efficiency for modern radar imaging systems, which is an ideal platform for advanced remote sensing applications using synthetic aperture radar (SAR) technology. In…

In this paper, we study the trajectory and resource allocation design for downlink energy-efficient secure unmanned aerial vehicle (UAV) communication systems, where an information UAV assisted by a multi-antenna jammer UAV serves multiple…

Unmanned Aerial Vehicles (UAVs) in networked environments face significant challenges due to energy constraints and limited battery life, which necessitate periodic replacements to maintain continuous operation. Efficiently managing the…

Energy-sharing UAV-UGV systems extend the endurance of Uncrewed Aerial Vehicles (UAVs) by leveraging Uncrewed Ground Vehicles (UGVs) as mobile charging stations, enabling persistent autonomy in infrastructure-sparse environments. Trajectory…

Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…

Unmanned aerial vehicles (UAVs) are recognized as a promising candidate for the multi-access edge computing (MEC) in the future sixth generation communication networks. However, the aerial eavesdropping UAVs (EUAVs) pose a significant…

We design persistent surveillance strategies for the quickest detection of anomalies taking place in an environment of interest. From a set of predefined regions in the environment, a team of autonomous vehicles collects noisy observations,…

Autonomous unmanned aerial vehicles (UAVs) with on-board base station equipment can potentially provide connectivity in areas where the terrestrial infrastructure is overloaded, damaged, or absent. Use cases comprise emergency response,…

Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…