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The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…

Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…

Cellular-based Unmanned Aerial Vehicle (UAV) systems are a promising paradigm to provide reliable and fast Beyond Visual Line of Sight (BVLoS) communication services for UAV operations. However, such systems are facing a serious GPS…

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)…

Achieving seamless global coverage is one of the ultimate goals of space-air-ground integrated network, as a part of which High Altitude Platform (HAP) network can provide wide-area coverage. However, deploying a large number of HAPs will…

Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient…

With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…

Accurate terrain perception is essential for terrain-following flight of agricultural unmanned aerial vehicles (UAVs), yet remains challenging in real-world farmland due to occlusions, complex terrain geometry, and environmental…

We consider a task of surveillance-evading path-planning in a continuous setting. An Evader strives to escape from a 2D domain while minimizing the risk of detection (and immediate capture). The probability of detection is path-dependent…

The paper presents a two-stage stochastic program to model a routing problem involving an Unmanned Aerial Vehicle (UAV) in the context of patrolling missions. In particular, given a set of targets and a set of supplemental targets…

Terrain information is a crucial factor affecting the performance of unmanned aerial vehicle (UAV) networks. As a tutorial, this article provides a unique perspective on the completeness of terrain information, summarizing and enhancing the…

Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…

Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of…

This article addresses the challenge of UAV survey coverage path planning for areas that are complex concave polygons, containing exclusion zones or obstacles. While standard drone path planners typically generate coverage paths for simple…

In this paper, we study a joint detection, mapping and navigation problem for a single unmanned aerial vehicle (UAV) equipped with a low complexity radar and flying in an unknown environment. The goal is to optimize its trajectory with the…

We consider a relay network based on Unmanned Aerial Vehicles (UAV). Terrestrial Base Stations (TBS) and UAV Relay Nodes (RN) are modelled using two Homogeneous Poisson Point Processes (HPPP). UAVs can hover at a fixed position or move…

Unpredictable and complex aerodynamic effects pose significant challenges to achieving precise flight control, such as the downwash effect from upper vehicles to lower ones. Conventional methods often struggle to accurately model these…

Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low…

Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a…

In this paper, we provide a performance analysis for practical unmanned aerial vehicle (UAV)-enabled networks. By considering both line-of-sight (LoS) and non-line-of-sight (NLoS) transmissions between aerial base stations (BSs) and ground…