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This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…

Thanks to their fast delivery, reduced traffic restrictions, and low manpower need, drones have been increasingly deployed to deliver time-critical materials, such as medication, blood, and exam kits, in emergency situations. This paper…

Designing autonomous drone swarms is hampered by a vast design space spanning platform, algorithmic, and numerical-strength choices. We perform large-scale agent-based simulations in three canonical scenarios: swarm-on-swarm battle,…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

As the automotive industry is developing autonomous driving systems and vehicular networks, attention to truck platooning has increased as a way to reduce costs (fuel consumption) and improve efficiency in the highway. Recent research in…

Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…

In this paper, the effective use of multiple quadrotor drones as an aerial antenna array that provides wireless service to ground users is investigated. In particular, under the goal of minimizing the airborne service time needed for…

Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…

Unmanned aerial vehicle (UAV), or drone is increasingly becoming a promising tool in communication system. This report explains the generation details of a dataset which will be used to designing an algorithm for the optimal placement of…

We propose a novel framework for the allocation of drone swarms for delivery services known as Swarm-based Drone-as-a-Service (SDaaS). The allocation framework ensures minimum cost (aka maximum profit) to drone swarm providers while meeting…

The potential for drone delivery services to transform logistics systems and consumer behavior has gained increasing attention. However, comprehensive empirical evidence on consumer delivery choice behavior within the context of…

Drones are driving numerous and evolving use cases, and creating transformative socio-economic benefits. Drone operation needs wireless connectivity for communication between drones and ground control systems, among drones, and between…

The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a…

We study the Flying Sidekick Traveling Salesman Problem with Multiple Drops (FSTSP-MD), a multi-modal last-mile delivery model where a single truck and a single drone cooperatively deliver customer packages. In the FSTSP-MD, the drone can…

Autonomous cleaning robots for public spaces have potential for addressing current societal challenges, such as labor shortages and cleanliness in public spaces. Other application domains like autonomous driving, bin picking, or search and…

The vehicle routing problem has great importance and application in transportation and supply chain management. In this case, there are several supply requests in a transportation network. The main goal is to allocate customers to available…

Aiding the ground cellular network with aerial base stations carried by drones has experienced an intensive raise of interest in the past years. Reconfigurable air-to-ground channels enable aerial stations to enhance users access links by…

Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…

Service delivery is set to experience a major paradigm shift with fast advances in drone technologies coupled with higher expectations from customers and increased competition. We propose a novel service-oriented approach to enable the…

Vehicle routing problems have been the focus of extensive research over the past sixty years, driven by their economic importance and their theoretical interest. The diversity of applications has motivated the study of a myriad of problem…