相关论文: Unscented Optimal Control for 3D Coverage Planning…

We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…

Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…

This study describes the development of a novel numerical optimization framework to maximize the endurance of unmanned aerial vehicles (UAVs). We address the problem of numerically determining the optimal thrust and cruise angle of attack…

We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional…

Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…

Automated inspection with Unmanned Aerial Systems (UASs) is a transformative capability set to revolutionize various application domains. However, this task is inherently complex, as it demands the seamless integration of perception,…

The increasing spreading of small commercial Unmanned Aerial Vehicles (UAVs, aka drones) presents serious threats for critical areas such as airports, power plants, governmental and military facilities. In fact, such UAVs can easily disturb…

Unmanned Aerial Vehicle (UAVs) have become very popular in the last decade due to some advantages such as strong terrain adaptation, low cost, zero casualties, and so on. One of the most interesting advances in this field is the automation…

Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…

This article proposes and evaluates a new safety concept called backup plan safety for path planning of autonomous vehicles under mission uncertainty using model predictive control (MPC). Backup plan safety is defined as the ability to…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

This work considers covert communications in the context of unmanned aerial vehicle (UAV) networks, aiming to hide a UAV for transmitting critical information out of a scenario that is monitored and where communication is not allowed.…

The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…

Autonomous tracking of suspicious unmanned aerial vehicles (UAVs) by legitimate monitoring UAVs (or monitors) can be crucial to public safety and security. It is non-trivial to optimize the trajectory of a monitor while conceiving its…

This paper investigates the three-dimensional (3D) deployment of uncrewed aerial vehicles (UAVs) as aerial base stations in heterogeneous communication networks under constraints imposed by diverse ground obstacles. Given the diverse data…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

Unmanned aerial vehicles (UAVs) can be users that support new applications, or be communication access points that serve terrestrial and/or aerial users. In this paper, we focus on the connectivity problem of aerial users when they are…

This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…