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Decentralized Scalable Exploration via Emergent Adaptive Lévy Walks on Minimal-Sensing Platforms
Wai Lun Leong, Teo Swee Huat Rodney
Efficient autonomous exploration with palm-sized nano-UAVs remains challenging due to severe limitations in sensing, computation, and flight endurance. We present a lightweight sen…
Terminal Constraint Model Predictive Control for Image-Based Visual Servoing of UAVs with Kalman Filter-Based Moment Loss Compensation
X. Wang, Y. Cao, W. L. W. Leong +4
Image-Based Visual Servoing (IBVS) provides an efficient vision-guided control paradigm for unmanned aerial vehicles (UAVs) by directly regulating image-space errors. However, conv…
GO-Flock: Goal-Oriented Flocking in 3D Unknown Environments with Depth Maps
Yan Rui Tan, Wenqi Liu, Wai Lun Leong +4
Artificial Potential Field (APF) methods are widely used for reactive flocking control, but they often suffer from challenges such as deadlocks and local minima, especially in the…
Dynamic Decentralized 3D Urban Coverage and Patrol with UAVs
Wai Lun Leong, Jiawei Cao, Rodney Teo
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and prov…