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Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…

With the increasing demand for heterogeneous Unmanned Aerial Vehicle (UAV) swarms to perform complex tasks in urban environments, system design now faces major challenges, including efficient semantic understanding, flexible task planning,…

Emergency happens in human-UAV cooperation, such as criminal activity tracking and urgent needs for ground assistance. Emergency response usually has high requirements on the motion control of the multi-UAV system, by maintaining both the…

Emerging on-demand connectivity scenarios increasingly require networking solutions with stringent service-level guarantees. We propose Swarm Network-as-a-Service (SNaaS), a service-oriented framework that leverages fleets of drones to…

Swarm in Blocks, originally developed for CopterHack 2022, is a high-level interface that simplifies drone swarm programming using a block-based language. Building on the Clover platform, this tool enables users to create functionalities…

UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability,…

Despite being among the most common psychological disorders, anxiety-related conditions are still primarily identified through subjective assessments, such as clinical interviews and self-evaluation questionnaires. These conventional…

In the past decade, Unmanned Aerial Vehicles (UAVs) have grabbed the attention of researchers in academia and industry for their potential use in critical emergency applications, such as providing wireless services to ground users and…

Air-to-air tracking of swarm UAVs presents significant challenges due to the complex nonlinear group motion and weak visual cues for small objects, which often cause detection failures, trajectory fragmentation, and identity switches.…

We propose Heterogeneous Swarms, an algorithm to design multi-LLM systems by jointly optimizing model roles and weights. We represent multi-LLM systems as directed acyclic graphs (DAGs) of LLMs with topological message passing for…

The usage of unmanned aerial vehicles (UAVs) in civil and military applications continues to increase due to the numerous advantages that they provide over conventional approaches. Despite the abundance of such advantages, it is imperative…

By using wireless connectivity through cellular base stations (BSs), swarms of unmanned aerial vehicles (UAVs) can provide a plethora of services ranging from delivery of goods to surveillance. In particular, UAVs in a swarm can utilize…

We propose a novel framework for composing Swarm-based Drone-as-a-Service (SDaaS) for delivery. Two composition approaches, i.e., sequential and parallel are designed considering the different behaviors of drone swarms. The proposed…

In many massive IoT communication scenarios, the IoT devices require coverage from dynamic units that can move close to the IoT devices and reduce the uplink energy consumption. A robust solution is to deploy a large number of UAVs (UAV…

Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…

Autonomous navigation of UAV swarms in perceptually-degraded environments, where GPS is unavailable and terrain is densely cluttered, presents a critical bottleneck for real-world deployment. Existing optimization-based planners lack the…

UAV swarms are widely used in emergency communications, area monitoring, and disaster relief. Coordinated by control centers, they are ideal for federated learning (FL) frameworks. However, current UAV-assisted FL methods primarily focus on…

Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…

Unmanned aerial vehicles (UAVs) can serve as aerial base stations (BSs) to extend the ubiquitous connectivity for ground users (GUs) in the sixth-generation (6G) era. However, it is challenging to cooperatively deploy multiple UAV swarms in…

Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…