相关论文: Hierarchical Framework for Optimizing Wildfire Sur…

Search and rescue missions and surveillance require finding targets in a large area. These tasks often use unmanned aerial vehicles (UAVs) with cameras to detect and move towards a target. However, common UAV approaches make two simplifying…

Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly…

Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload ratio increases, given the strong inertial…

We present a hierarchical framework for motion planning of a large collection of agents. The proposed framework starts from low level motion primitives over a gridded workspace and provides a set of rules for constructing higher level…

This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…

Solving different types of optimization models (including parameters fitting) for support vector machines on large-scale training data is often an expensive computational task. This paper proposes a multilevel algorithmic framework that…

Forest fires pose a significant threat to ecosystems, economies, and human health worldwide. Early detection and assessment of forest fires are crucial for effective management and conservation efforts. Unmanned Aerial Vehicles (UAVs)…

Recent huge technological development of Unmanned Aerial Vehicles (UAVs) can provide breakthrough means of fighting wildland fires. We propose an innovative forest firefighting system based on the use of a swarm of hundreds of UAVs able to…

Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an operator to directly control each robot.…

This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…

We address the problem of coordinating a team of robots to cover an unknown environment while ensuring safe operation and avoiding collisions with non-cooperative agents. Traditional coverage strategies often rely on simplified assumptions,…

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…

Wildfires pose a significant threat to the safe and reliable operations of the electric grid. To mitigate wildfire risk, system operators resort to public safety power shutoffs, or PSPS, that shed load for a subset of customers. As wildfire…

In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods plan and safely track inspection routes to visit points of…

In high-stakes disaster scenarios, timely and informed decision-making is critical yet often challenged by uncertainty, dynamic environments, and limited resources. This paper presents a systematic review of Human-AI collaboration patterns…

Optimal intervention design is formulated as a hybrid optimal control problem for multiphase homogeneous epidemiological systems. The system extends a foundational compartmental model through intermediate phases that incorporate…

Utilizing robots for autonomous target search in complex and unknown environments can greatly improve the efficiency of search and rescue missions. However, existing methods have shown inadequate performance due to hardware platform…

In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed method does not rely on precise prior knowledge of the…

Early detection of wildfires is essential to prevent large-scale fires resulting in extensive environmental, structural, and societal damage. Uncrewed aerial vehicles (UAVs) can cover large remote areas effectively with quick deployment…

Path planning over spatiotemporal models can be applied to a variety of applications such as UAVs searching for spreading wildfire in mountains or network of balloons in time-varying atmosphere deployed for inexpensive internet service. A…