相关论文: Learning-'N-Flying: A Learning-based, Decentralize…

Federated Learning (FL) is a decentralized machine learning (ML) technique that allows a number of participants to train an ML model collaboratively without having to share their private local datasets with others. When participants are…

Federated Learning (FL) is a decentralized machine learning paradigm where models are trained on distributed devices and are aggregated at a central server. Existing FL frameworks assume simple two-tier network topologies where end devices…

Unmanned aerial vehicles (UAVs) are increasingly being integrated into next-generation networks to enhance communication coverage and network capacity. However, the dynamic and mobile nature of UAVs poses significant security challenges,…

This paper presents the watch-from-sky framework, where multiple unmanned aerial vehicles (UAVs) play four roles, i.e., sensing, data forwarding, computing, and patrolling, for predictive police surveillance. Our framework is promising for…

This paper considers an unmanned aerial vehicle (UAV)-enabled wireless sensor network (WSN) in urban areas, where a UAV is deployed to collect data from distributed sensor nodes (SNs) within a given duration. To characterize the occasional…

Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…

The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…

The aim of this work is to develop an approach that enables Unmanned Aerial System (UAS) to efficiently learn to navigate in large-scale urban environments and transfer their acquired expertise to novel environments. To achieve this, we…

Unmanned aerial vehicles (UAVs) are emerging in commercial spaces and will support many applications and services, such as smart agriculture, dynamic network deployment, and network coverage extension, surveillance and security. The…

Multiple Unmanned Aerial Vehicles (UAVs) cooperative Mobile Edge Computing (MEC) systems face critical challenges in coordinating trajectory planning, task offloading, and resource allocation while ensuring Quality of Service (QoS) under…

We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…

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…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

As unmanned aircraft systems (UASs) continue to integrate into the U.S. National Airspace System (NAS), there is a need to quantify the risk of airborne collisions between unmanned and manned aircraft to support regulation and standards…

Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decentralized agents…

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…