This paper addresses the cruise range maximization problem for hypersonic drones by proposing a combined aerodynamic force/thrust vector trajectory optimization method. A novel continuous linear parameterization strategy for trajectory optimization i...
In this work, we focus on a drone-fleet-enabled package delivery scenario, in which multiple drones fly from a start point and cooperatively deliver packages to the ground users in the presence of a number of no-fly zones (NFZs). We first mathematica...
The application of drones has contributed to automated herbicide spraying in the context of precision agriculture. Although drone technology is mature, the widespread application of agricultural drones and their numerous advantages still demand impro...
This paper presents an optimized robust trajectory control system for an autonomous tiltrotor bi-copter based on an incremental nonlinear dynamic inversion (INDI) strategy combined with a set of PID/PD controllers. The methodology includes a lower le...
This paper presents a trajectory determination and optimization method of multirotors equipped with a single-channel radar to obtain 3D Synthetic Aperture Radar imaging. The result is a realistic trajectory that allows to obtain an imaging of the ass...
To address the insufficient exploration ability, susceptibility to local optima, and limited convergence accuracy of the standard Student Psychology-Based Optimization (SPBO) algorithm in three-dimensional UAV trajectory planning, we propose an enhan...
This paper proposes an effective global path planning technique for cellular-connected UAVs to enhance the reliability of unmanned aerial vehicles’ (UAVs) flights operating beyond the visual line of sight (BVLOS). Cellular networks are consider...
This paper presents an offline optimal trajectory planning method for powered parachutes (PPCs) using dynamic model simulations, emphasizing their potential in applications such as remote sensing and aerial delivery systems. A six-degrees-of-freedom...
This research focuses on integrating seakeeping indices into the trajectory planning of a mother ship in order to minimize risks during UAV (unmanned aerial vehicle) takeoff and landing in challenging sea conditions. By considering vessel dynamics an...
In this paper, we address the application of the flying Drone Base Stations (DBS) in order to improve the network performance. Given the high degrees of freedom of a DBS, it can change its position and adapt its trajectory according to the users move...
Autonomous drones offer immense potential in dynamic environments, but their navigation systems often struggle with moving obstacles. This paper presents a novel approach for drone trajectory planning in such scenarios, combining the Interactive Mult...
Drones are increasingly vital for disaster management, yet emergency fleets often consist of heterogeneous platforms, complicating task allocation. Efficient deployment requires rapid assignment based on vehicle and payload characteristics. This work...
Utilizing drones for delivery is an effective approach to enhancing delivery efficiency and lowering expenses. However, to overcome the delivery range and payload capacity limitations of drones, the combination of trucks and drones is gaining more at...
Drone aerial videos have immense potential in surveillance, rescue, agriculture, and urban planning. However, accurately tracking multiple objects in drone aerial videos faces challenges like occlusion, scale variations, and rapid motion. Current joi...
In practical missions, quadrotor drones frequently face the challenge of navigating through multiple predetermined waypoints in cluttered environments where the sequence of the waypoints is not specified. This study presents a comprehensive multi-way...
This article introduces a rapid interception trajectory generation algorithm tailored for the mitigation of malicious drone activities and other high-speed airborne threats. The proposed method facilitates a high degree of flexibility in defining the...
To address the issues of communication failure and inefficiency in clustered drone relay communication due to external malicious interference, this paper proposes a joint optimization method for relay communication rates under interference conditions...
This paper presents a novel trajectory planning approach for nonlinear dynamical systems; a multi-rotor drone, built on an optimization-based framework proposed by the authors named the Nonlinear Model Predictive Horizon. In the present work, this me...
This paper introduces a swift method for intercepting the state trajectory of large-scale invading drone swarms using quadrotor drones. The research primarily concentrates on the design and computation of multi-target interception trajectories, with...
The optimization issues connected to a landing task of an unmanned aerial vehicle are discussed in the paper, based on a model of a mini-class drone. Three landing scenarios are considered, including minimum-time landing, landing with minimum energy...
Drone localization is essential for various purposes such as navigation, autonomous flight, and object tracking. However, this task is challenging when satellite signals are unavailable. This paper addresses database-free vision-only localization of...
Neural Radiance Fields (NeRFs), as an innovative method employing neural networks for the implicit representation of 3D scenes, have been able to synthesize images from arbitrary viewpoints and successfully apply them to the visualization of objects...
For a communication control system in a disaster area where drones (also called unmanned aerial vehicles (UAVs)) are used as aerial base stations (ABSs), the reliability of communication is a key challenge for drones to provide emergency communicatio...
With the increased proliferation of drone use for many purposes, counter drone technology has become crucial. This rapid expansion has inherently introduced significant opportunities and applications. This creates applications such as aerial surveill...
As automated construction processes require large workspaces and high payloads, the use of cables is a reasonable approach to span wide distances and share loads. Therefore, a cable-driven parallel robot is a suitable choice for automated masonry con...
In the context of evolving Smart Cities, the integration of drone technology and distributed computing paradigms presents significant potential for enhancing urban infrastructure and services. This paper proposes a comprehensive approach to optimizin...
This article proposes a model predictive control (MPC) strategy for a quadrotor drone trajectory tracking based on a compact state-space model based on a quasi-linear parameter varying (qLPV) representation of the nonlinear quadrotor. The use of a qL...
Unmanned Aerial Vehicles (UAVs), also known as drones, are a class of aircraft without the presence of pilots on board. UAVs have the ability to reduce the time and cost of deliveries and to respond to emergency situations. Currently, UAVs are extens...
This paper presents a trajectory generation method for a nonlinear system under closed-loop control (here a quadrotor drone) motivated by the Nonlinear Model Predictive Control (NMPC) method. Unlike NMPC, the proposed method employs a closed-loop sys...
The rapid development of unmanned aerial vehicles (UAVs) has had a significant impact on the growth of the economic, industrial, and social welfare of society. The possibility of reaching places that are difficult and dangerous for humans to access w...
Electric vertical takeoff and landing (eVTOL) aircraft attract attention due to their unique characteristics of reduced noise, moderate pollutant emission, and lowered operating cost. However, the benefits of electric vehicles, including eVTOL aircra...
In this paper, we present a distributed algorithm to generate collision-free trajectories for a group of quadrotors flying through a common workspace. In the setup adopted, each vehicle replans its trajectory, in a receding horizon manner, by solving...
Multi Small-Object Tracking (MSOT) is crucial for drone inspection and intelligent monitoring, yet traditional Multiple-object Tracking (MOT) methods perform poorly in such scenarios. The reasons include the following: small targets have low resoluti...
The localization of unmanned aerial vehicles is an important topic due to several threats near sensitive sites. Localization based on their sounds has been a particular point of interest in past studies for many years. It requires the use of a microp...
Urban drone applications require efficient path planning to ensure safe and optimal navigation through complex environments. Drawing inspiration from the collective intelligence of animal groups and electoral processes in human societies, this study...
This paper presents an adaptive trajectory planning approach for nonlinear dynamical systems based on deep reinforcement learning (DRL). This methodology is applied to the authors’ recently published optimization-based trajectory planning appro...
Drones integrated with 5G New Radio (NR) base stations have emerged as a promising solution for efficient victim search and localization in emergency zones where cellular networks are disrupted by natural disasters. Traditional approaches relying sol...
In drone countermeasure systems, drone tracking is commonly conducted using object detection methods, which are typically limited to identifying the presence of a drone. To enhance the performance of such systems and improve the accuracy of drone fli...
To improve the search efficiency of the unmanned aerial vehicle (UAV) swarm in disaster areas, the target distribution probability graph in the prior information is introduced, and a drone cluster search trajectory planning method based on probabilit...
The use of unmanned aerial vehicles (UAVs) as mobile sensor platforms has grown significantly in recent years, including applications where drones emulate radar targets or serve as dynamic measurement systems. This paper presents a novel approach to...
To enhance the rapid and stable tracking of a specified trajectory by quadcopter drones, while ensuring a degree of resistance to external wind disturbances, this paper proposes an integrated control strategy that combines an optimization algorithm a...
In recent years, the issue of trajectory planning for autonomous unmanned aerial vehicles (UAVs) has received significant attention due to the rising demand for these vehicles across various applications. Despite advancements, real-time trajectory pl...
Pan–tilt–zoom cameras are commonly used for surveillance applications. Their automation could reduce the workload of human operators and increase the safety of airports by tracking anomalous objects such as drones. Reinforcement learning...
Multi-object tracking (MOT) is a key intermediate task in many practical applications and theoretical fields, facing significant challenges due to complex scenarios, particularly in the context of drone-based air-to-ground military operations. During...
This paper introduces a quantitative methodology for assessing drone pilot performance, aiming to reduce drone-related incidents by understanding the human factors influencing performance. The challenge lies in balancing evaluations in operationally...
In recent years, navigating rotor drones in complex and dynamic environments has been a significant challenge. This paper proposes an improved path planning method by integrating the enhanced Informed-RRT* algorithm with the Dynamic Window Approach (...
Constrained by fixed frame dimensions, conventional drones usually demonstrate insufficient capabilities to accommodate complex environments. However, the reconfigurable drone can address this limitation through its deformable frame equipped with act...
It is still a challenge to detect small-size vehicles from a drone perspective, particularly under low-brightness conditions. In this context, a YOLOX-IM-DeepSort model was proposed, which improved the object detection performance in low-brightness c...
In this paper, we present the development of a non-linear model predictive controller for the trajectory tracking of a quadrotor using the CasADi optimization framework. The non-linear dynamic model of the quadrotor was derived using Newton–Eul...
The integration of reconfigurable intelligent surfaces (RISs) with non-terrestrial networks (NTNs), particularly those enabled by unmanned aerial vehicles (UAVs) or drone-based platforms, has emerged as a transformative approach to enhance 6G connect...
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