相关论文: SE(3)-Based Trajectory Optimization and Target Tra…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Integrated sensing and communication (ISAC) has emerged as a promising paradigm for next-generation (6G) wireless networks, unifying radar sensing and communication on a shared hardware platform. This paper proposes a dynamic array…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Integrated sensing and communication (ISAC) is a promising paradigm for next-generation vehicular networks, yet existing orthogonal frequency-division multiplexing (OFDM)-based designs suffer from limited spatial diversity and severe…
Unmanned aerial vehicle (UAV) holds immense potential in integrated sensing and communication (ISAC) systems for the Internet of Things (IoT). In this paper, we propose a UAV-aided ISAC framework and investigate three robust power…
In this correspondence, we propose an unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC) system, where a full-duplex UAV equipped with uniform planar array (UPA) is adopted as a base station for the multiuser…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
With the increasing use of autonomous unmanned aerial vehicles (UAVs), it is critical to ensure that they are continuously tracked and controlled, especially when UAVs operate beyond the communication range of ground stations (GSs).…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted Internet-of-Things (IoT) system in a sophisticated three-dimensional (3D) environment, where the UAV's trajectory is optimized to efficiently collect data from multiple…
Driven by technological breakthroughs, indoor tracking and localization have gained importance in various applications including the Internet of Things (IoT), robotics, and unmanned aerial vehicles (UAVs). To tackle some of the challenges…
This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling,…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Mobile Edge Computing (MEC) reduces the computational burden on terminal devices by shortening the distance between these devices and computing nodes. Integrating Unmanned Aerial Vehicles (UAVs) with enhanced MEC networks can leverage the…
Beam management, including initial access (IA) and beam tracking, is essential to the millimeter-wave Unmanned Aerial Vehicle (UAV) network. However, conventional communication-only and feedback-based schemes suffer a high delay and low…
This paper introduces a novel framework aimed at designing integrated waveforms for robust integrated sensing and communication (ISAC) systems. The system model consists of a multiple-input multiple-output (MIMO) base station that…
Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…
With line-of-sight mode deployment and fast response, unmanned aerial vehicle (UAV), equipped with the cutting-edge integrated sensing and communication (ISAC) technique, is poised to deliver high-quality communication and sensing services…
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…
In the realm of unmanned aerial vehicle (UAV) tracking, Siamese-based approaches have gained traction due to their optimal balance between efficiency and precision. However, UAV scenarios often present challenges such as insufficient…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…