相关论文: A Novel Multi-Layer Framework for BVLoS Drone Oper…
Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore. Human pilots can fly a…
The use of drone small cells (DSCs) which are aerial wireless base stations that can be mounted on flying devices such as unmanned aerial vehicles (UAVs), is emerging as an effective technique for providing wireless services to ground users…
Foundation models (FM) have shown immense human-like capabilities for generating digital media. However, foundation models that can freely sense, interact, and actuate the physical domain is far from being realized. This is due to 1)…
One of the biggest challenges is to determine the deployment and navigation of the drones to benefit the most for different applications. Many research questions have been raised about this topic. For example, drone-enabled wildlife…
While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Vision-language models (VLMs) have been widely-applied in ground-based vision-language navigation (VLN). However, the vast complexity of outdoor aerial environments compounds data acquisition challenges and imposes long-horizon trajectory…
Modern Unmanned Aerial Vehicles equipped with state of the art artificial intelligence (AI) technologies are opening to a wide plethora of novel and interesting applications. While this field received a strong impact from the recent AI…
Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…
This paper investigates the multi-UAV multi-task coordination problem in infrastructure-less emergency scenarios, where UAVs collaboratively are required to jointly perform aerial image acquisition and ground-user communication. To tackle…
We present a simulation tool for evaluating team formation in autonomous multi-UAV (Unmanned Aerial Vehicle) missions that operate Beyond Visual Line of Sight (BVLOS). The tool models UAV collaboration and mission execution in dynamic and…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
The rapid expansion of mega-constellations in low Earth orbits has posed significant challenges to space traffic management, necessitating periodic inspections of satellites to ensure the sustainability of the space environment when…
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
In this paper, we study the feasibility of sending drones to deliver goods from a depot to a customer by solving what we call the Mission-Feasibility Problem (MFP). Due to payload constraints, the drone can serve only one customer at a…
Carrier-grade networks comprise several layers where different protocols coexist. Nowadays, most of these networks have different control planes to manage routing on different layers, leading to a suboptimal use of the network resources and…
This paper considers the optimization problems that arise to coordinate a tandem between a mothership vehicle and a fleet of drones. %more than one drone. Each drone can be launched from the mothership to perform an operation. After…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…