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The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

This paper presents a novel high-level task planning and optimal coordination framework for autonomous masonry construction, using a team of heterogeneous aerial robotic workers, consisting of agents with separate skills for brick placement…

Uncontrolled emissions of gases from industrial accidents and disasters result in huge loss of life and property. Such extreme events require a quick and reliable survey of the site for effective rescue strategy planning. To achieve these…

In this paper, we consider deploying multiple Unmanned Aerial Vehicles (UAVs) to enhance the computation service of Mobile Edge Computing (MEC) through collaborative computation among UAVs. In particular, the tasks of different types and…

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…

Employing unmanned aerial vehicles (UAVs) has attracted growing interests and emerged as the state-of-the-art technology for data collection in Internet-of-Things (IoT) networks. In this paper, with the objective of minimizing the total…

We present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…

In the envisioned future dense urban airspace, multiple companies will operate heterogeneous fleets of small unmanned aerial systems (sUASs), where each fleet includes several homogeneous aircraft with identical policies and configurations,…

Unmanned aerial vehicles (UAVs) have the potential to establish flexible and reliable emergency networks in disaster sites when terrestrial communication infrastructures go down. Nevertheless, potential security threats may occur on UAVs…

One of the most critical applications undertaken by coalitions of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is reaching predefined targets by following the most time-efficient routes while avoiding collisions.…

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…

The frequency of wildfire disasters has surged five-fold in the past 50 years due to climate change. Preemptive de-energization is a potent strategy to mitigate wildfire risks but substantially impacts customers. We propose a multistage…

Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…

This paper investigates an unmanned aerial vehicle (UAV)-assisted mobile-edge computing (MEC) system, in which the UAV provides complementary computation resource to the terrestrial MEC system. The UAV processes the received computation…

Traditionally, traffic incident management (TIM) programs coordinate the deployment of emergency resources to immediate incident requests without accommodating the interdependencies on incident evolutions in the environment. However,…

Energy consumption is one of the most critical concerns in designing computing devices, ranging from portable embedded systems to computer cluster systems. Furthermore, in the past decade, cluster systems have increasingly risen as popular…

This paper presents a distributed approach to provide persistent coverage of an arbitrarily shaped area using heterogeneous coverage of fixed-wing unmanned aerial vehicles (UAVs), and to recover from simultaneous failures of multiple UAVs.…

Reliable wildfire spread prediction is vital for risk-aware emergency planning, yet most deep learning models lack principled uncertainty quantification (UQ). Further, for boundary-sensitive cases like wildfire spread, evaluating models…

We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-horizon aerial monitoring missions. More specifically, given a…

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…