相关论文: FiReFly: Fair Distributed Receding Horizon Plannin…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
Unmanned aerial vehicles (UAVs) with multi-connectivity (MC) capabilities efficiently and reliably transfer data between terrestrial networks (TNs) and non-terrestrial networks (NTNs). However, optimally sharing and allocating spectrum and…
Task allocation problems have traditionally focused on cost optimization. However, more and more attention is being given to cases in which cost should not always be the sole or major consideration. In this paper we study a fair task…
When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…
In this paper, we study the resource allocation and trajectory design for secure unmanned aerial vehicle (UAV)-enabled communication systems, where multiple multi-purpose UAV base stations are dispatched to provide secure communications to…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
Recent mobile equipment (as well as the norm IEEE 802.21) now offers the possibility for users to switch from one technology to another (vertical handover). This allows flexibility in resource assignments and, consequently, increases the…
Recent years have witnessed increasingly more uses of Unmanned Aerial Vehicle (UAV) swarms for rapidly providing wireless coverage to ground users. Each UAV is constrained in its energy storage and wireless coverage, and it consumes most…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
Package delivery via the UAVs is a promising transport mode to provide efficient and green logistic services, especially in urban areas or complicated topography. However, the energy storage limit of the UAV makes it difficult to perform…
Robust planning in interactive scenarios requires predicting the uncertain future to make risk-aware decisions. Unfortunately, due to long-tail safety-critical events, the risk is often under-estimated by finite-sampling approximations of…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…
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…
Planning in realistic environments requires searching in large planning spaces. Affordances are a powerful concept to simplify this search, because they model what actions can be successful in a given situation. However, the classical…
Unmanned Aerial Vehicle (UAV) have emerged as a promising technique to rapidly provide wireless services to a group of mobile users simultaneously. The paper aims to address a challenging issue that each user is selfish and may misreport…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…