相关论文: Optimal Real Time Drone Path Planning for Harvesti…
We present a demonstration of service-based trajectory planning for a drone delivery system in a multi-drone skyway network. We conduct several experiments using Crazyflie drones to collect the drone's position data, wind speed and…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
In this paper, we study an unmanned aerial vehicle (UAV)-enabled wireless power transfer (WPT) network, where a UAV flies at a constant altitude in the sky to provide wireless energy supply for a set of ground nodes with a linear topology.…
Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…
Truck platooning refers to a series of trucks driving in close proximity via communication technologies, and it is considered one of the most implementable systems of connected and automated vehicles, bringing huge energy savings and safety…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
We study a problem of online targets coverage by a drone or a sensor that is equipped with a camera or an antenna of fixed half-angle of view $\alpha$. The targets to be monitored appear at arbitrary positions on a line barrier in an online…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
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,…
This paper addresses the problem of autonomous task allocation by a swarm of autonomous, interactive drones in large-scale, dynamic spatio-temporal environments. When each drone independently determines navigation, sensing, and recharging…
In designing wireless sensor networks, it is important to reduce energy dissipation and prolong network lifetime. In this paper, a new model with energy and monitored objects heterogeneity is proposed for heterogeneous wireless sensor…
For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
We consider optimal/efficient power allocation policies in a single/multihop wireless network in the presence of hard end-to-end deadline delay constraints on the transmitted packets. Such constraints can be useful for real time voice and…
Drone swarms coupled with data intelligence can be the future of wildfire fighting. However, drone swarm firefighting faces enormous challenges, such as the highly complex environmental conditions in wildfire scenes, the highly dynamic…
Drone swarms are required for the simultaneous delivery of multiple packages. We demonstrate a multi-stop drone swarm-based delivery in a smart city. We leverage formation flying to conserve energy and increase the flight range of a drone…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
It has been shown that using appropriate channel coding schemes in wireless environments, transmission energy can be significantly reduced by controlling the packet transmission rate. This paper seeks optimal solutions for downlink…