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

This paper considers the problem of optimally deploying omnidirectional sensors, with potentially limited sensing radius, in a network-like environment. This model provides a compact and effective description of complex environments as well…

Spacecraft and drones aimed at exploring our solar system are designed to operate in conditions where the smart use of onboard resources is vital to the success or failure of the mission. Sensorimotor actions are thus often derived from…

We consider a single-hop data gathering sensor cluster consisting of a set of sensors that need to transmit data periodically to a base-station. We are interested in maximizing the lifetime of this network. Even though the setting of our…

Wireless sensor networks (WSNs) suffers from the hot spot problem where the sensor nodes closest to the base station are need to relay more packet than the nodes farther away from the base station. Thus, lifetime of sensory network depends…

Small drones are an increasing threat to both military personnel and civilian infrastructure, making early and automated detection crucial. In this work we develop a system that uses spiking neural networks and neuromorphic cameras (event…

We propose a novel service-oriented architecture for drone-based multi-package delivery in a skyway network. The proposed architecture provides a high-level design for deploying a skyway network in a city for the effective provisioning of…

In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…

In wireless sensor networks (WSNs), designing a stable, low-power routing protocol is a major challenge because successive changes in links or breakdowns destabilize the network topology. Therefore, choosing the right route in this type of…

In energy constrained wireless sensor networks, it is significant to make full use of the limited energy and maximize the network lifetime even when facing some unexpected situation. In this paper, all sensor nodes are grouped into…

Advanced technological breakthroughs and exceptional levels of innovation are enhancing the capabilities and potential of autonomous unmanned aerial vehicles (UAVs or drones), and in so doing attracting the interest of a broader swath of…

Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…

This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…

In this paper, we simulated a distributed, cooperative path planning technique for multiple drones (~200) to explore an unknown region (~10,000 connected units) in the presence of obstacles. The map of an unknown region is dynamically…

We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…

We consider a remote estimation problem with an energy harvesting sensor and a remote estimator. The sensor observes the state of a discrete-time source which may be a finite state Markov chain or a multi-dimensional linear Gaussian system.…

In this paper, we derive optimal transmission policies for energy harvesting sensors to maximize the utility obtained over a finite horizon. First, we consider a single energy harvesting sensor, with discrete energy arrival process, and a…

The concept of path homotopy has received widely attention in the field of path planning in recent years. In this article, a homotopy invariant based on convex dissection for a two-dimensional bounded Euclidean space is developed, which can…

Usage of mobile sink(s) for data gathering in wireless sensor networks(WSNs) improves the performance of WSNs in many respects such as power consumption, lifetime, etc. In some applications, the mobile sink $MS$ travels along a predefined…

The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…

Drone base stations (DBSs) have recently gained wide popularity as a possible solution to provide wireless connectivity in a variety of scenarios, for example, in inaccessible terrains such as connectivity over vast areas of a water body or…