相关论文: Failure-Sentient Composition For Swarm-Based Drone…
Current drone delivery systems mostly focus on point-to-point package delivery. We present a multi-stop drone service system to deliver packages anywhere anytime within a specified geographic area. We define a skyway network which takes…
Detecting and adapting to catastrophic failures in robotic systems requires a robot to learn its new dynamics quickly and safely to best accomplish its goals. To address this challenging problem, we propose probabilistically-safe, online…
The smart metering infrastructure may become one of the key elements in efficiently managing energy in smart cities. At the same time, traditional measurement record collection is performed by manual methods, which raises cost, safety, and…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
We introduce a package service model where trucks as well as drones can deliver packages. Drones can travel on trucks or fly; but while flying, drones can only carry one package at a time and have to return to a truck to charge after each…
Heterogeneous unmanned aerial vehicle (UAV) swarms consist of dozens to hundreds of drones with different roles and varying hardware and software requirements collaborating towards a shared mission. While traditional approaches for…
In applied machine learning, concept drift, which is either gradual or abrupt changes in data distribution, can significantly reduce model performance. Typical detection methods,such as statistical tests or reconstruction-based models,are…
We propose a 3D simulator tailored for the Drone-as-a-Service framework. The simulator enables employing dynamic algorithms for addressing realistic delivery scenarios. We present the simulator's architectural design and its use of an…
Unmanned aerial vehicle (UAV) swarms must exploit machine learning (ML) in order to execute various tasks ranging from coordinated trajectory planning to cooperative target recognition. However, due to the lack of continuous connections…
Semantic segmentation is an important task that helps autonomous vehicles understand their surroundings and navigate safely. During deployment, even the most mature segmentation models are vulnerable to various external factors that can…
We study implementations of basic fault-tolerant primitives, such as consensus and registers, in message-passing systems subject to process crashes and a broad range of communication failures. Our results characterize the necessary and…
Multi-robot target tracking is a fundamental problem that requires coordinated monitoring of dynamic entities in applications such as precision agriculture, environmental monitoring, disaster response, and security surveillance. While…
This paper studies the wireless scheduling design to coordinate the transmissions of (local) model parameters of federated learning (FL) for a swarm of unmanned aerial vehicles (UAVs). The overall goal of the proposed design is to realize…
Drones are becoming popular as a complementary system for \ac{ems}. Although several pilot studies and flight trials have shown the feasibility of drone-assisted \ac{aed} delivery, running a full-scale operational network remains…
Flying drones can be used in a wide range of applications and services from surveillance to package delivery. To ensure robust control and safety of drone operations, cellular networks need to provide reliable wireless connectivity to drone…
There is a space of uncertainty in the modeling of vehicular dynamics of autonomous systems due to noise in sensor readings, environmental factors or modeling errors. We present Requiem, a software-only, blackbox approach that exploits this…
Among the available solutions for drone swarm simulations, we identified a gap in simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis, and do not require the user to interface with…
Collaboration between drones and trucks in a last-mile delivery system offers numerous benefits and reduces many challenges of the traditional delivery system. Here, we introduce Drone-Delivery Packing Problem, where a set of parcels,…
Diffusion on complex networks is a convenient framework to simulate a great variety of transport systems. The effects of failures in the network links may be used to cascade phenomena or the congestion formation in the system. A real time…
Multi-robot swarms play an essential role in complex missions including battlefield reconnaissance, agricultural pest monitoring, as well as disaster search and rescue. Unfortunately, given the complexity of swarm algorithms, logical…