相关论文: Spectrum Surveying: Active Radio Map Estimation wi…

Path planning methods for autonomous unmanned aerial vehicles (UAVs) are typically designed for one specific type of mission. This work presents a method for autonomous UAV path planning based on deep reinforcement learning (DRL) that can…

In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…

In this paper, we propose a data-driven framework for collaborative wideband spectrum sensing and scheduling for networked unmanned aerial vehicles (UAVs), which act as the secondary users to opportunistically utilize detected spectrum…

Spectrum sensing and the generation of 3D Radio Environment Maps (REMs) are essential for enabling spectrum sharing within cognitive radio networks. While Uncrewed Aerial Vehicles (UAVs) offer high-mobility 3D sensing, REM accuracy is…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

In this paper, we study the path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of the large-scale channel…

Radio map is an efficient demonstration for visually displaying the wireless signal coverage within a certain region. It has been considered to be increasingly helpful for the future sixth generation (6G) of wireless networks, as wireless…

Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…

This paper presents an experimental measurement platform for the research and development of unmanned aerial vehicles (UAVs) localization algorithms using radio emission and reflectivity. We propose a cost-effective, flexible testbed made…

This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to…

A Radio Environment Map (REM) is a powerful tool in enhancing the experience of radio-enabled agents but building such a REM can be a laborious undertaking, especially in three dimensions. This project shows how such a REM of an indoor…

Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…

Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…

Unmanned aerial vehicles (UAVs) have gained a lot of popularity in diverse wireless communication fields. They can act as high-altitude flying relays to support communications between ground nodes due to their ability to provide…

Localizing radio frequency (RF) sources with an unmanned aerial vehicle (UAV) has many important applications. As a result, UAV-based localization has been the focus of much research. However, previous approaches rely heavily on custom…

This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…

Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…

Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…

Radio maps provide metrics such as the received signal strength at every location in a geographical region of interest. Extensive research has been carried out in this context, but it relies almost exclusively on synthetic-data experiments.…

In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots. The robots obtain this data during…