Our paper entitled “Multi-Objective UAV Path Planning for Search and Rescue” is accepted for publication in IEEE ICRA 2017.
We propose a multi-objective optimization algorithm to allocate tasks and plan paths for a team of UAVs. Our genetic algorithm approach aims to minimize the mission completion time, which includes the time to find the target (area coverage) and the time to setup a communication path (network connectivity). We evaluate strategies using a data mule, a relay chain, and a novel hybrid approach to communicate with the ground personnel. The algorithm can be tuned to prioritize coverage or connectivity, depending on
the mission demands.
Our survey entitled “Survey on Unmanned Aerial Vehicle Networks for Civil Applications: A Communications Viewpoint” is accepted in IEEE Communications Surveys and Tutorials.
This comprehensive survey reports the characteristics and requirements of UAV networks for envisioned civil applications over the period 2000–2015 from a communications and networking viewpoint. We survey and quantify quality-of service requirements, network-relevant mission parameters, data requirements, and the minimum data to be transmitted over the network. Furthermore, we elaborate on general networking related requirements such as connectivity, adaptability, safety, privacy, security, and scalability. We also report experimental results from many projects and investigate the suitability of existing communication technologies for supporting reliable aerial networking.
We have tested our multi-UAV system for a search and rescue scenario, where we have demonstrated the planning, communication, and detection capabilities of the aerial network. Once the target is detected, a communication relay chain is formed from the UAVs to the ground station, streaming real-time video of the target. See the video of the demo here.
I was invited to give a talk at the FLYNET (Micro and Nano Aerial Vehicle Networks for Civilian Use) workshop held at ETH Zurich, 3-5 November 2014.
My talk was entitled “Communication and Cooperation in Multi-UAV Networks”, where I reported our latest results on multi-hop aerial networks using IEEE 802.11a, n, and ac technologies. Slides of my talk are available on request.
I was invited to give a talk at the 2nd AETOS international conference on “Research challenges for future RPAS/UAV systems“. The conference took place in Bordeaux, France, 9-10 September 2014 co-located with UAV Show 2014.
My talk was entitled “Communication and Cooperation in Multi-UAV Networks”, where I talked about our work on multi-UAV systems for civil applications, treating the multi-UAV system as a network of nodes that cooperate toward a common goal such as area coverage or search and rescue, where the team behavior is enabled via communication between the UAVs. Especially, I focused on planning in multi-UAV systems and evaluation of networking behavior via real-world experiments. Slides of my talk are available on request.
Our paper “Neighbor Cardinality Estimation with Low-Power Transceivers: Implementation and Experimental Results,” is accepted in IEEE Vehicular Technology Conference- Spring 2014.
The paper provides a proof-of-concept and performance test of neighbor estimation algorithms with an implementation on low-power wireless sensor devices. We illustrate the challenges of implementing the recently proposed multi-feedback estimator (MFE) on Z1 sensor devices. We compare the performance of MFE to that of simple neighbor counting.
Our paper “Information Merging in Multi-UAV Cooperative Search,” is accepted in IEEE International Conference on Robotics and Automation 2014.
The paper investigates probabilistic information merging strategies for cooperative search using multiple UAVs. The objective is to determine the impact of cooperation and type/amount of information exchange on search time and detection errors. Local occupancy grids are used to represent target existence, to update its belief with local observations and to merge information from other UAVs. Our merging strategies perform Bayes updates of the occupancy probabilities while considering realistic limitations in
sensing, communication and UAV movement—all of which are important for small-scale UAVs.