相关论文: Swarm-in-Blocks: Simplifying Drone Swarm Programmi…

Blockchain consensus, rooted in the principle ``don't trust, verify'', limits access to real-world data, which may be ambiguous or inaccessible to some participants. Oracles address this limitation by supplying data to blockchains, but…

Planetary bodies such as asteroids, comets, and planetary moons are high-value science targets as they hold important information about the formation and evolution of our solar system. However, due to their low-gravity, variable sizes and…

We present a multimodal interaction framework suitable for a human rescuer that operates in proximity with a set of co-located drones during search missions. This work is framed in the context of the SHERPA project whose goal is to develop…

Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…

In the software industry, two software engineering development best practices coexist: open-source and closed-source software. The former has a shared code that anyone can contribute, whereas the latter has a proprietary code that only the…

Creating programs with block-based programming languages like Scratch is easy and fun. Block-based programs can nevertheless contain bugs, in particular when learners have misconceptions about programming. Even when they do not, Scratch…

Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

Stochastic algorithms are efficient approaches to solving machine learning and optimization problems. In this paper, we propose a general framework called Splash for parallelizing stochastic algorithms on multi-node distributed systems.…

Easily accessible sensors, like drones with diverse onboard sensors, have greatly expanded studying animal behavior in natural environments. Yet, analyzing vast, unlabeled video data, often spanning hours, remains a challenge for machine…

The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms, including ground and aerial vehicles, can support longer…

Fifth-generation (5G) cellular networks have led to the implementation of beyond 5G (B5G) networks, which are capable of incorporating autonomous services to swarm of unmanned aerial vehicles (UAVs). They provide capacity expansion…

Distributed consistency is perhaps the most discussed topic in distributed systems today. Coordination protocols can ensure consistency, but in practice they cause undesirable performance unless used judiciously. Scalable distributed…

Designing correct UAV autonomy programs is challenging due to joint navigation, sensing and analytics requirements. While LLMs can generate code, their reliability for safety-critical UAVs remains uncertain. This paper presents AeroGen, an…

In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between…

In this paper we study the dynamic version of the covering problem motivated by the coverage of drones' swarm: Let $S$ be a set of $n$ non-negative weighted points in the plane representing users. Also, consider a set $P$ of $m$ disks that…

The integration of Large Language Models (LLMs) into robotic control, including drones, has the potential to revolutionize autonomous systems. Research studies have demonstrated that LLMs can be leveraged to support robotic operations.…

Integrating unmanned aerial vehicles (UAV) to non-orthogonal multiple access (NOMA) visible light communications (VLC) exposes many potentials over VLC and NOMA-VLC systems. In this circumstance, user grouping is of importance to reduce the…

Swarm intelligence has becoming a powerful technique in solving design and scheduling tasks. Metaheuristic algorithms are an integrated part of this paradigm, and particle swarm optimization is often viewed as an important landmark. The…