相关论文: Optimal Real Time Drone Path Planning for Harvesti…

Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…

Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…

We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…

Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…

Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion and energy planning using model predictive control (MPC). A…

We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

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…

We introduce and study a new cooperative delivery problem inspired by drone-assisted package delivery. We consider a scenario where a drone, en route to deliver a package to a destination (a point on the plane), unexpectedly loses…

This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…

Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…

Driven by the rapid growth of Internet of Things applications, tremendous data need to be collected by sensors and uploaded to the servers for further process. As a promising solution, mobile crowd sensing enables controllable sensing and…

This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…

This paper investigates an unmanned aerial vehicle (UAV)-enabled wireless communication system with energy harvesting, where the UAV transfers energy to the users in half duplex or full duplex, and the users harvest energy for data…

In order to respond effectively in the aftermath of a disaster, emergency services and relief organizations rely on timely and accurate information about the affected areas. Remote sensing has the potential to significantly reduce the time…

This paper proposes an efficient HOT algorithm for solving the optimal transport (OT) problems with finite supports. We particularly focus on an efficient implementation of the HOT algorithm for the case where the supports are in…

Data aggregation has become an emerging paradigm to support massive Internet-of-things (IoT), a new and critical use case for fifth-generation new radio (5G-NR). Indeed, data aggregators can complement cellular base stations and process IoT…

Harvesting energy from ambient environment is a new promising solution to free electronic devices from electric wire or limited-lifetime battery, which may find very significant applications in sensor networks and body-area networks. This…

In recent years, Compressed Sensing (CS) has gained significant interest as a technique for acquiring high-resolution sensory data using fewer measurements than traditional Nyquist sampling requires. At the same time, autonomous robotic…