相关论文: Aperiodic Communication for MPC in Autonomous Coop…

Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then…

One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…

In this paper, we study a joint detection, mapping and navigation problem for a single unmanned aerial vehicle (UAV) equipped with a low complexity radar and flying in an unknown environment. The goal is to optimize its trajectory with the…

This letter considers an unmanned aerial vehicle (UAV)-enabled relay communication system for delivering latency-critical messages with ultra-high reliability, where the relay is operating under amplifier-and-forward (AF) mode. We aim to…

A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…

This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…

Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…

In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, robotic, self-driving vehicles transport customers within an…

Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…

In recent years, unmanned aerial vehicles (UAVs) assisted mobile edge computing systems have been exploited by researchers as a promising solution for providing computation services to mobile users outside of terrestrial infrastructure…

Unmanned aerial vehicle (UAV) communications have been widely accepted as promising technologies to support air-to-ground communications in the forthcoming sixth-generation (6G) wireless networks. This paper proposes a novel air-to-ground…

In this article, we investigate the content distribution in the hotspot area, whose traffic is offloaded by the combination of the unmanned aerial vehicle (UAV) communication and edge caching. In cache-enabling UAV-assisted cellular…

In this paper, we consider deploying multiple Unmanned Aerial Vehicles (UAVs) to enhance the computation service of Mobile Edge Computing (MEC) through collaborative computation among UAVs. In particular, the tasks of different types and…

Unmanned aerial vehicles (UAVs) have significant practical advantages for delivering packages, and many logistics companies have begun deploying UAVs for commercial package deliveries. To deliver packages quickly and cost-effectively, the…

In this paper, we investigate resource allocation algorithm design for multiuser unmanned aerial vehicle (UAV) communication systems in the presence of UAV jittering and user location uncertainty. In particular, we jointly optimize the…

In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…

This work presents a novel, inference-based approach to the distributed and cooperative flocking control of aerial robot swarms. The proposed method stems from the Unmanned Aerial Vehicle (UAV) dynamics by limiting the latent set to the…

Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate…