相关论文: Fast and Communication-Efficient Multi-UAV Explora…

This paper presents a time-coordination algorithm for multiple UAVs executing cooperative missions. Unlike previous algorithms, it does not rely on the assumption that the communication between UAVs is bidirectional. Thus, the topology of…

Unmanned aerial vehicles (UAVs) are becoming a viable platform for sensing and estimation in a wide variety of applications including disaster response, search and rescue, and security monitoring. These sensing UAVs have limited battery and…

A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…

Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fast and computationally efficient dual-layer exploration…

Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…

Maintaining the freshness of information in the Internet of Things (IoT) is a critical yet challenging problem. In this paper, we study cooperative data collection using multiple Unmanned Aerial Vehicles (UAVs) with the objective of…

In post-disaster scenarios, the rapid deployment of adequate communication infrastructure is essential to support disaster search, rescue, and recovery operations. To achieve this, uncrewed aerial vehicle (UAV) has emerged as a promising…

This paper presents a communication and energy-aware multi-UAV Coverage Path Planning (mCPP) method for scenarios requiring continuous inter-UAV communication, such as cooperative search and rescue and surveillance missions. Unlike existing…

Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration…

Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for such robots is still an open problem. In this paper, we…

Multiple unmanned aerial vehicles (UAVs) play a vital role in monitoring and data collection in wide area environments with harsh conditions. In most scenarios, issues such as real-time data retrieval and real-time UAV positioning are often…

In different situations, like disaster communication and network connectivity for rural locations, unmanned aerial vehicles (UAVs) could indeed be utilized as airborne base stations to improve both the functionality and coverage of…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

In ultra-dense unmanned aerial vehicle (UAV) networks, it is challenging to coordinate the resource allocation and interference management among large-scale UAVs, for providing flexible and efficient service coverage to the ground users…

This work investigates a collaborative sensing and data collection system in which multiple unmanned aerial vehicles (UAVs) sense an area of interest and transmit images to a cloud server (CS) for processing. To accelerate the completion of…

This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…

With the growing demand for Uncrewed Aerial Vehicle (UAV) networks in sensitive applications, such as urban monitoring, emergency response, and secure sensing, ensuring reliable connectivity and covert communication has become increasingly…

Low Probability of Detection (LPD) communication aims to obscure the presence of radio frequency (RF) signals to evade surveillance. In the context of mobile surveillance utilizing unmanned aerial vehicles (UAVs), achieving LPD…

Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…

In this article, we propose a numerical method to solve semi-discrete optimal transport problems for gigantic pointsets (108 points and more). By pushing the limits by several orders of magnitude, it opens the path to new applications in…