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Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
The increasing availability of drones and their potential for malicious activities pose significant privacy and security risks, necessitating fast and reliable detection in real-world environments. However, existing drone detection systems…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Autonomous drone fleets have immense potential in medical supply delivery during disaster incident response. However, coordinating multiple drones in such settings introduces compounding challenges: dynamic environmental hazards such as…
An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
The problem of searching for an unknown object occurs in important applications ranging from security, medicine and defense. Sensors with the capability to process information rapidly require adaptive algorithms to control their search in…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…
At a time when drones are increasingly associated with hostile operations, we re-purpose them for humanitarian and life-saving applications. However, adapting search and rescue drones for battlefield triage remains extremely challenging;…
Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…
Drone-based crowd monitoring is the key technology for applications in surveillance, public safety, and event management. However, maintaining tracking continuity and consistency remains a significant challenge. Traditional…
Reliable detection, localization and identification of small drones is essential to promote safe, secure and privacy-respecting operation of Unmanned-Aerial Systems (UAS), or simply, drones. This is an increasingly challenging problem with…
This paper investigates the joint optimization of trajectory planning and resource allocation for a high-altitude platform stations synthetic aperture radar (HAPs-SAR) system. To support real-time sensing and conserve the limited energy…
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tutorial of three major convex optimization-based trajectory…
In dense traffic scenarios, ensuring safety while keeping high task performance for autonomous driving is a critical challenge. To address this problem, this paper proposes a computationally-efficient spatiotemporal receding horizon control…
In this paper, a novel Unified Multi-Task Learning Framework of Real-Time Drone Supervision for Crowd Counting (MFCC) is proposed, which utilizes an image fusion network architecture to fuse images from the visible and thermal infrared…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…