This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs...
Mission planning is the guidance for a UAV team to perform missions, which plays the most critical role in military and civil applications. For complex tasks, it requires heterogeneous cooperative multi-UAVs to satisfy several mission requirements. M...
In sudden disaster scenarios, the rapid strategy-driven task-chain construction of rescue task chains in UAV-assisted heterogeneous emergency rescue systems is critical for an effective emergency response. Such systems usually involve multiple types...
Resource assignment in heterogeneous multi-UAV systems changes both current task outcomes and the task chains that remain feasible across a mission region. Completion, delay, utilization, and role-specific reachability metrics do not retain this spat...
This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with collision avoidance performance. Firstly, a formation control protoc...
In the Machine Learning (ML) era, faced with challenges, including exponential multi-sensor data, an increasing number of actuators, and data-intensive algorithms, the development of Unmanned Aerial Vehicles (UAVs) is standing on a new footing. In pa...
This paper investigates a load-balanced pickup strategy for heterogeneous multi-UAV systems, where unmanned aerial vehicles (UAVs) with different flight speeds and payload capacities cooperatively collect spatially distributed parcels while avoiding...
This study addresses the heterogeneous formation control problem for cooperative unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) operating under input quantization constraints. A unified mathematical framework is developed to har...
Heterogeneous unmanned systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) have great application potential in marine environments. At present, the fully autonomous recovery of UAVs is a key problem that restric...
Coordinated swarms of low-cost commercial unmanned aerial vehicles (UAVs) pose a growing security threat to civil infrastructure, public events, and restricted airspace. Effective counter-UAV defense requires the real-time, cooperative scheduling of...
This paper mainly investigates the fault-tolerant consensus problem in heterogeneous multi-agent systems. Firstly, a control model of a leader–follower heterogeneous multi-agent system (HMAS) composed of multiple unmanned aerial vehicles (UAVs)...
Large multi-UAV mission systems operate over time-varying communication graphs with heterogeneous platforms, where classical distributed task assignment may incur excessive message passing and suboptimal task–resource matching. To address these...
This paper presents a comprehensive framework for mission planning and execution with a heterogeneous multi-robot system, specifically designed to coordinate unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) in dynamic and unstructu...
This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with input quantization performance. Firstly, at the kinematic level, a d...
This paper investigates the bearing-only formation control problem of a heterogeneous multi-vehicle system, which includes unmanned aerial vehicles (UAVs) and unmanned surface vehicles (UWSVs). The interactions among vehicles are described by a parti...
Cyber–physical systems (CPSs) are connected embedded devices with computing power, networking ability, control, and decision capability [...]
Cooperative pursuit–evasion with heterogeneous agents poses a training challenge that flat multi-agent reinforcement learning methods handle poorly: the pursuer team must coordinate internally while competing against adversarial targets, and th...
Dynamic events, such as new task arrivals, UAV failures, and changes in task time windows, require timely updates to task allocation plans in multi-UAV systems. Global replanning provides broad flexibility for feasibility recovery, but it may also mo...
Heterogeneous unmanned aerial vehicle (UAV) formations face competing tracking and coordination demands during obstacle-induced maneuvers with follower-specific acceleration limits. Formation-reshaping adaptive super-twisting control (FR-ASTWC) is de...
This paper presents the H-CoRE (Heterogeneous Cooperative Multi-Robot Execution) framework designed to enable autonomous multi-robot operations in GNSS-denied environments. Built on an ROS 2-based architecture, H-CoRE enables collaborative, structure...
Unmanned aerial vehicle (UAV) swarms offer an efficient solution for data collection from widely distributed ground users (GUs). However, incomplete environment information and frequent changes make it challenging for standard centralized planning or...
This paper presents a wolf-pack-inspired distributed encirclement framework for heterogeneous unmanned aerial vehicle–unmanned surface vehicle (UAV–USV) teams operating with limited communication and intermittent visual sensing. The propo...
Air-ground collaborative systems (AGCS), in which unmanned aerial vehicles survey from above while ground vehicles navigate the terrain below, can achieve capabilities far beyond those of any single platform when they share perception and coordinate...
Currently, we are facing an increasing trend in the use of unmanned aerial vehicles (UAV) in various activities, both civilian and military. The application of UAVs in the battlefield has received extensive attention amid a global new military revolu...
The multiple unmanned aerial vehicles (UAVs) system is highly sought after in the fields of emergency rescue and intelligent transportation because of its strong perception and extensive coverage. Formulating a reasonable task scheduling scheme is es...
This paper investigates the adaptive fault-tolerant formation control scheme for heterogeneous multi-agent systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) with actuator faults, parameter uncertainties and ex...
Unmanned aerial vehicles (UAV) have recently emerged as a new remote sensing aerial platform, and they are seemingly advancing real-time data generation. Nonetheless, considerable uncertainties remain in the extent to which wildlife managers can inte...
Heterogeneous UAVs offer unique advantages in multi-agent systems due to their varying capabilities including (a) different payload capacities, (b) maneuverability, and (c) flight endurance. These properties made them particularly well suited for com...
Unmanned Aerial Vehicles (UAVs) and small drones are nowadays being widely used in heterogeneous use cases: aerial photography, precise agriculture, inspections, environmental data collection, search-and-rescue operations, surveillance applications,...
This paper proposes a decentralized adaptive event-triggered fault-tolerant cooperative control (ET-FTCC) scheme for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and external disturbances under den...
This study explores fault-tolerant consensus in leader–following heterogeneous multi-agent systems, focusing on actuator failures in uncrewed aerial vehicles (UAVs) and uncrewed ground vehicles (UGVs). An optimization-based fault-tolerant conse...
This paper investigates the air–ground cooperative time-varying formation-tracking control problem of a heterogeneous cluster system composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Initially, the structure of...
Effectively addressing the formation control of ABS-assisted hovercraft systems with heterogeneities, unavailable leaders’ convex combination states, nonlinearities, and mixed disturbances poses significant challenges. This paper proposes a dis...
Current Unmanned Aerial Vehicle (UAV) swarm designs prioritize physical reliability over network security, leaving systems vulnerable to increasingly sophisticated cyber threats in complex environments. Existing defense methods are mostly limited to...
The rapid proliferation of Internet of Things (IoT) ground devices (GDs) has created an unprecedented demand for computing resources and real-time data-processing capabilities. Integrating unmanned aerial vehicles (UAVs) into Mobile Edge Computing (M...
To address the challenges of discontinuous heterogeneous image matching, significant matching errors in specific regions, and poor real-time performance in GNSS-denied environments for unmanned aerial vehicles (UAVs), we propose an integrated navigat...
This paper investigated the configuration of the reflecting elements for uplink non-orthogonal multiple access (NOMA) unmanned aerial vehicle (UAV)–reconfigurable intelligent surface (RIS) systems. By analyzing the practical air-to-ground (A2G)...
In the complex problem of air-to-ground mission planning, multi-UAV systems face significant challenges such as system complexity and heterogeneity, insufficient target observability, and difficulties in collaborating information sharing. To address...
The heterogeneous unmanned system, which is composed of unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV), has been broadly applied in many domains. Collaborative fault diagnosis (CFD) among UAVs and UGVs has become a key technology i...
With the rapid growth of distributed Internet of Things (IoT) services and edge-intelligence applications, conventional cloud computing is increasingly limited in latency-sensitive scenarios. Mobile Edge Computing (MEC) reduces latency by moving comp...
This paper proposes a fixed-time formation-tracking control problem for a heterogeneous multi-agent system (MAS) consisting of six unmanned aerial vehicles (UAVs) and three unmanned ground vehicles (UGVs) under actuator attacks, external disturbances...
To address the challenges faced by heterogeneous Unmanned Aerial Vehicle (UAV) systems in complex task allocation, including over-reliance on centralized scheduling, training deadlock, inadequate capture of temporal collaboration, and unstable traini...
Unmanned aerial vehicles (UAVs) are becoming an important platform for precision agriculture, supporting both high-throughput sensing and active field operations such as spraying, monitoring, and phenotyping. However, unlike general UAV applications,...
This paper presents an algorithm for multi-UAV path planning in scenarios with heterogeneous Global Navigation Satellite Systems (GNSS) coverage. In these environments, cooperative strategies can be effectively exploited when flying in GNSS-challengi...
Task allocation is an essential element for determining the capability of multi-UAV systems to perform various tasks. This paper presents a procedure called a “rebalancing algorithm” for generating task-performing routes in heterogeneous...
Accurate and consistent self-localization is essential for multi-UAV aerial missions in complex dynamic environments. However, communication constraints and heterogeneous sensor reliability variations often lead to cumulative localization errors and...
This paper investigates a UAV-assisted wireless communication system that integrates optical wireless communication (LiFi) with conventional RF links to enhance network capacity in crowd-gathering scenarios. While the unmanned aerial vehicle (UAV) se...
Geomagnetic navigation is a promising alternative for positioning and localization of UAV swarm systems in GNSS-denied environments. However, strong and heterogeneous electromagnetic interference generated by onboard power, propulsion, and electronic...
Recently, massive intelligent applications have emerged for the smart grid (SG), such as inspection and sensing. To support these applications, there have been high requirements on wireless communication for the SG, especially in remote areas. To tac...
In disaster relief operations, integrating disaster reconnaissance, material delivery, and effect evaluation into a temporal task chain can significantly reduce emergency response cycles and improve rescue efficiency. However, since multiple types of...
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