相关论文: CORRIDRONE: Corridors for Drones, An Adaptive On-D…

We present flight patterns for a collision-free passage of swarms of drones through one or more openings. The narrow openings provide drones with access to an infrastructure component such as charging stations to charge their depleted…

This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…

Current drone delivery solutions mainly focus on single package delivery using one drone. However, the recent developments in drone technology enable a drone to deliver multiple packages in a single trip. We use the nearest destination…

In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…

The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms, including ground and aerial vehicles, can support longer…

We introduce the Fastron, a configuration space (C-space) model to be used as a proxy to kinematic-based collision detection. The Fastron allows iterative updates to account for a changing environment through a combination of a novel…

We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit vehicles (e.g., buses and trams). We design a comprehensive…

The U.S. Air Force currently is in the process of developing an Airborne Network (AN) to provide support to its combat aircrafts on a mission. The reliability needed for continuous operation of an AN is difficult to achieve through…

Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…

This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…

Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…

We propose a novel context-aware drone delivery framework for optimizing package delivery through skyway networks in smart cities. We reformulate the problem of finding an optimal drone service delivery pathway as a more congruent and…

This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…

Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…

The Internet of Drones (IoD) is a layered network control architecture designed mainly for coordinating the access of unmanned aerial vehicles to controlled airspace, and providing navigation services between locations referred to as nodes.…

A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…

Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…

Problem definition: Drones, despite being acknowledged as a transformative force in the city logistics sector, are unable to execute the \textit{last-meter delivery} (unloading goods directly to customers' doorsteps) due to airspace…

Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face critical limitations, including unreliable perception of…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…