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Recent advances in rotorcraft design, multi-rotor vehicle control, miniaturization of hardware, sensing, and battery technologies have enabled cheap, practical design of micro air vehicles (MAVs) for civilian and hobby applications. In parallel, several applications are being envisioned that bring together networks of MAVs to accomplish large tasks by coordinating with each other. Despite these advancements,...
Advancements in the design of drones have led to their use in varied environments and applications such as battle field surveillance. In such scenarios, swarms of drones can coordinate to survey a given area. We consider the problem of covering an arbitrary area containing obstacles using multiple drones, i.e., the so-called coverage path planning (CPP) problem. The goal of the CPP problem is to find...
Recent interest in hobby aerial vehicles and their applications has seen the emergence of quadrotor designs with various form factors, and development of waypoint-based flight controllers such as APM and Pixhawk. Common to these flight controllers is the use of the Micro Air Vehicle Communications Protocol (MAVLink) that allows the flight controller to communicate with a ground control station. However,...
We study learning-based energy-efficient multi- user scheduling of delay-sensitive data over fading channels. To tradeoff energy and delay, we combine adaptive rate transmission at the physical layer with a rate-adaptive medium access control (MAC) protocol based on carrier sense multiple access with collision avoidance (CSMA/CA). We formulate the multi-user scheduling problem as a constrained Markov...
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