Skip to main content

Research Repository

Advanced Search

All Outputs (14)

T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles (2025)
Journal Article
Pan, H., Zahmatkesh, M., Rekabi-Bana, F., Arvin, F., & Hu, J. (online). T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles. IEEE Transactions on Intelligent Transportation Systems, https://doi.org/10.1109/TITS.2025.3557783

This paper introduces a time-optimal swarm tra-jectory planner for cooperative unmanned aerial vehicle (UAV) systems, designed to generate collision-free trajectories for flocking control in cluttered environments. To achieve this goal, model predict... Read More about T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles.

Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays (2024)
Journal Article
Wu, K., Hu, J., Li, Z., Ding, Z., & Arvin, F. (2024). Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays. IEEE Transactions on Intelligent Transportation Systems, 25(9), 11768 - 11781. https://doi.org/10.1109/tits.2024.3364356

Coordination of unmanned aerial vehicle (UAV) systems has received great attention from robotics and control communities. In this paper, we investigate the distributed formation tracking problem in heterogeneous nonlinear multi-UAV networks via beari... Read More about Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays.

Unified Robust Path Planning and Optimal Trajectory Generation for Efficient 3D Area Coverage of Quadrotor UAVs (2023)
Journal Article
Rekabi-Bana, F., Hu, J., Krajník, T., & Arvin, F. (2024). Unified Robust Path Planning and Optimal Trajectory Generation for Efficient 3D Area Coverage of Quadrotor UAVs. IEEE Transactions on Intelligent Transportation Systems, 25(3), 2492-2507. https://doi.org/10.1109/tits.2023.3320049

Area coverage is an important problem in robotics applications, which has been widely used in search and rescue, offshore industrial inspection, and smart agriculture. This paper demonstrates a novel unified robust path planning, optimal trajectory g... Read More about Unified Robust Path Planning and Optimal Trajectory Generation for Efficient 3D Area Coverage of Quadrotor UAVs.

Finite-Time Fault-Tolerant Formation Control for Distributed Multi-Vehicle Networks With Bearing Measurements (2023)
Journal Article
Wu, K., Hu, J., Ding, Z., & Arvin, F. (2024). Finite-Time Fault-Tolerant Formation Control for Distributed Multi-Vehicle Networks With Bearing Measurements. IEEE Transactions on Automation Science and Engineering, 21(2), 1346-1357. https://doi.org/10.1109/tase.2023.3239748

This paper addresses a bearing-only formation tracking problem in robotic networks by considering exogenous disturbances and actuator faults. In contrast to traditional position-based coordination strategies, the bearing-only coordinated movements of... Read More about Finite-Time Fault-Tolerant Formation Control for Distributed Multi-Vehicle Networks With Bearing Measurements.

Distributed Motion Planning for Safe Autonomous Vehicle Overtaking via Artificial Potential Field (2022)
Journal Article
Xie, S., Hu, J., Bhowmick, P., Ding, Z., & Arvin, F. (2022). Distributed Motion Planning for Safe Autonomous Vehicle Overtaking via Artificial Potential Field. IEEE Transactions on Intelligent Transportation Systems, 23(11), 21531- 21547. https://doi.org/10.1109/tits.2022.3189741

Autonomous driving of multi-lane vehicle platoons have attracted significant attention in recent years due to their potential to enhance the traffic-carrying capacity of the roads and produce better safety for drivers and passengers. This paper propo... Read More about Distributed Motion Planning for Safe Autonomous Vehicle Overtaking via Artificial Potential Field.

Fault-tolerant cooperative navigation of networked UAV swarms for forest fire monitoring (2022)
Journal Article
Hu, J., Niu, H., Carrasco, J., Lennox, B., & Arvin, F. (2022). Fault-tolerant cooperative navigation of networked UAV swarms for forest fire monitoring. Aerospace Science and Technology, 123, Article 107494. https://doi.org/10.1016/j.ast.2022.107494

Coordination of unmanned aerial vehicle (UAV) swarms has received significant attention due to its wide practical applications including search and rescue, cooperative exploration and target surveillance. Motivated by the flexibility of the UAVs and... Read More about Fault-tolerant cooperative navigation of networked UAV swarms for forest fire monitoring.

Robust formation control for networked robotic systems using Negative Imaginary dynamics (2022)
Journal Article
Hu, J., Lennox, B., & Arvin, F. (2022). Robust formation control for networked robotic systems using Negative Imaginary dynamics. Automatica, 140, Article 110235. https://doi.org/10.1016/j.automatica.2022.110235

This paper proposes a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory. The proposed scheme applies to a class of networked robotic systems that can be modelled as a group of single integr... Read More about Robust formation control for networked robotic systems using Negative Imaginary dynamics.

Self-Organised Collision-Free Flocking Mechanism in Heterogeneous Robot Swarms (2021)
Journal Article
Ban, Z., Hu, J., Lennox, B., & Arvin, F. (2021). Self-Organised Collision-Free Flocking Mechanism in Heterogeneous Robot Swarms. Mobile Networks and Applications, 26(6), 2461–2471. https://doi.org/10.1007/s11036-021-01785-7

Flocking is a social animals’ common behaviour observed in nature. It has a great potential for real-world applications such as exploration in agri-robotics using low-cost robotic solutions. In this paper, an extended model of a self-organised flocki... Read More about Self-Organised Collision-Free Flocking Mechanism in Heterogeneous Robot Swarms.

A Decentralized Cluster Formation Containment Framework for Multirobot Systems (2021)
Journal Article
Hu, J., Bhowmick, P., Jang, I., Arvin, F., & Lanzon, A. (2021). A Decentralized Cluster Formation Containment Framework for Multirobot Systems. IEEE Transactions on Robotics, 37(6), 1936-1955. https://doi.org/10.1109/tro.2021.3071615

Cooperative control of multirobot systems (MRSs) has earned significant research interest over the past two decades due to its potential applications in multidisciplinary engineering problems. In contrast to a single specialized robot, the MRS can be... Read More about A Decentralized Cluster Formation Containment Framework for Multirobot Systems.

Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments (2021)
Journal Article
Hu, J., Turgut, A. E., Lennox, B., & Arvin, F. (2022). Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments. IEEE Transactions on Circuits and Systems II: Express Briefs, 69(1), 114-118. https://doi.org/10.1109/tcsii.2021.3074705

Coordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities... Read More about Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments.

SDP-Based Robust Formation-Containment Coordination of Swarm Robotic Systems with Input Saturation (2021)
Journal Article
Wu, K., Hu, J., Lennox, B., & Arvin, F. (2021). SDP-Based Robust Formation-Containment Coordination of Swarm Robotic Systems with Input Saturation. Journal of Intelligent and Robotic Systems, 102(1), Article 12. https://doi.org/10.1007/s10846-021-01368-4

There are many potential applications of swarm robotic systems in real-world scenarios. In this paper, formation-containment controller design for single-integrator and double-integrator swarm robotic systems with input saturation is investigated. Th... Read More about SDP-Based Robust Formation-Containment Coordination of Swarm Robotic Systems with Input Saturation.

Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots With Collision Avoidance (2021)
Journal Article
Wu, K., Hu, J., Lennox, B., & Arvin, F. (2021). Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots With Collision Avoidance. IEEE Transactions on Circuits and Systems II: Express Briefs, 68(10), 3316-3320. https://doi.org/10.1109/tcsii.2021.3066555

This brief proposes a bearing-only collision-free formation coordination strategy for networked heterogeneous robots, where each robot only measures the relative bearings of its neighbors to achieve cooperation. Different from many existing studies t... Read More about Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots With Collision Avoidance.