11 accepted papers
Dynamic obstacle avoidance (DOA) for unmanned aerial vehicles (UAVs) requires fast reaction under limited onboard resources. We introduce the distributionally robust acceleration control barrier function (DR-ACBF) as an efficient collision avoidance method maintaining safety regions. The method cons
Maintaining formation integrity is a significant challenge for a multi-agent system while navigating in cluttered environments. This paper presents a multi-agent formation control, integrating a virtual leader strategy with formation switching (FS) and Safe Artificial Potential Field (SAPF) control.…
Multi-human parsing algorithms have significant potential for real-time surveillance applications. By accurately segmenting humans and their body parts, such algorithms help to understand and better differentiate multiple human subjects in video frames. However, deploying such algorithms on resource…
We consider a multi-robot patrolling scenario with intermittent connectivity constraints, ensuring that robots' data finally arrive at a base station. In particular, each robot traverses a closed tour periodically and meets with the robots on neighboring tours to exchange data. We model the problem
Planning the simultaneous movement of multiple agents represents a challenging coordination problem, and ideally safety and efficiency are jointly addressed. This paper introduces a planning algorithm for fast and energy-efficient trajectories with reduced collision potential from a start to an end…
We discuss surveillance with multiple unmanned aerial vehicles (UAV) that minimize information idleness (the lag between the start of the mission and the moment when the data captured at a sensing location arrives at the base station) and constrain latency (the lag between capturing data at a sensin
Future Internet of Things (IoT) applications will face challenges in increased flexibility, uncertainty, dynamics and scalability. Self-aware computing maintains knowledge about the applications state and environment and then uses this knowledge to reason about and adapt behaviours. In this position…
Recreational videography from small drones can capture bystanders who may be uncomfortable about appearing in those videos. Existing privacy filters, such as scrambling and hopping blur, address this issue through de-identification but generate temporal distortions that manifest themselves as flicke…
In a goal-oriented Human Robot Collaborative (HRC) scenario, where the goal is to complete an assembly process, a robust object tracker might not necessarily fulfill its functional role due to the dynamic nature of HRC. Moreover, for an efficient HRC, the functional role of the object tacker should…
The strong resource limitations of unmanned aerial vehicles (UAVs) pose various challenges for UAV applications. In persistent multi-UAV surveillance, several UAVs with limited communication range and flight time have to repeatedly visit sensing locations while maintaining a multi-hop connection to…
This paper presents a centralized algorithm for multi-scale observation of multiple moving targets using a team of Micro Aerial Vehicles (MAVs). The proposed algorithm is appropriate when MAVs can observe targets at different elevations with the objective of jointly maximizing duration and resolutio…