相关论文: Real-Time Deployment of a Large-Scale Multi-Quadco…

In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…

This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…

We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…

In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…

Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…

Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…

This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…

Integrating unmanned aerial vehicles (UAVs) into existing cellular networks encounters lots of challenges, among which one of the most striking concerns is how to achieve harmonious coexistence of aerial transceivers, inter alia, UAVs, and…

In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…

This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…

This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…

Coordinating teams of aerial robots in cluttered three-dimensional (3D) environments requires a principled integration of discrete mission planning-deciding which robot serves which goals and in what order -- with continuous-time trajectory…

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…

In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the…

A swarm of quadcopters can perform cooperative tasks, such as monitoring of a large area, more efficiently than a single one. However, to be able to successfully work together, the quadcopters must be aware of the position of the other…

In this paper, we present an advanced strategy for the coordinated control of a multi-agent aerospace system, utilizing Deep Neural Networks (DNNs) within a reinforcement learning framework. Our approach centers on optimizing autonomous…

We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…

This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and planning framework given a global Linear Temporal Logic specification. The capabilities of both quadrupedal and wheeled robots are leveraged…

In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…

MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in complex and dynamic environments. However, achieving precise…