相关论文: Failure-Sentient Composition For Swarm-Based Drone…
To meet the immediate needs of environmental monitoring or hazardous event detection, we consider the automatic deployment of a group of low-cost or disposable sensors by a drone. Introducing sensors by drones to an environment instead of…
The advances in virtualization technologies have sparked a growing transition from virtual machine (VM)-based to container-based infrastructure for cloud computing. From the resource orchestration perspective, containers' lightweight and…
An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
Networks of Unmanned Aerial Vehicles (UAVs), composed of hundreds, possibly thousands of highly mobile and wirelessly connected flying drones will play a vital role in future Internet of Things (IoT) and 5G networks. However, how to control…
Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data. Thus, algorithms that monitor learned policies at test time and provide early warnings of failure are…
Heterogeneous teams of mobile robots and UAVs are offering a substantial benefit in an autonomous exploration of the environment. Nevertheless, although joint exploration scenarios for such systems are widely discussed, they are still…
As next-generation networks materialize, increasing levels of intelligence are required. Federated Learning has been identified as a key enabling technology of intelligent and distributed networks; however, it is prone to concept drift as…
Problem definition: Drones, despite being acknowledged as a transformative force in the city logistics sector, are unable to execute the \textit{last-meter delivery} (unloading goods directly to customers' doorsteps) due to airspace…
Recently, an unmanned aerial vehicle (UAV), as known as drone, has become an alternative means of package delivery. Although the drone delivery scheduling has been studied in recent years, most existing models are formulated as a single…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential…
Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
Real-time multi-agent collision-avoidance algorithms comprise a key enabling technology for the practical use of self-organising swarms of drones. This paper proposes a decentralised reciprocal collision-avoidance algorithm, which is based…
Active fault tolerance is essential for robot swarms to retain long-term autonomy. Previous work on swarm fault tolerance focuses on reacting to electro-mechanical faults that are spontaneously injected into robot sensors and actuators.…
Wireless sensor networks (WSN) acts as the backbone of Internet of Things (IoT) technology. In WSN, field sensing and fusion are the most commonly seen problems, which involve collecting and processing of a huge volume of spatial samples in…
We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit vehicles (e.g., buses and trams). We design a comprehensive…
Drone-based crowd monitoring is the key technology for applications in surveillance, public safety, and event management. However, maintaining tracking continuity and consistency remains a significant challenge. Traditional…
Distributed sensing by cooperative drone swarms is crucial for several Smart City applications, such as traffic monitoring and disaster response. Using an indoor lab with inexpensive drones, a testbed supports complex and ambitious studies…