Multi-Vehicle Systems and Air Traffic Control Commons^™

Improving Multi-Agent Swarm Collision Avoidance Using Reciprocal Velocity Obstacles, Nick Wilson

Discovery Day - Daytona Beach

As multi-agent systems grow increasingly complex, physical robotic swarms are essential to bridge the gap between limited software simulations and real-world application. The BID4R STARS swarm provides a physical platform for testing diverse algorithms, yet its success relies heavily on fundamental agent capabilities—most notably, obstacle avoidance. Preventing intra-swarm collisions is critical to avoid hardware damage and experimental disruption. To address this challenge, this project implements the Reciprocal Velocity Obstacles (RVO) algorithm onto the STARS swarm. While standard collision avoidance algorithms often overcorrect and induce oscillatory agent movement, RVO factors in the velocity and anticipated responses of all agents involved in …

Honeybee-Inspired Swarm Intelligence For Autonomous Adaptability Of Martian Infrastructure, Morgan Kendall

Discovery Day - Daytona Beach

Current research in autonomous space systems primarily relies on centralized control or swarm methods designed for fixed mission scenarios. These approaches lack the flexibility needed for long-duration Mars operations, where infrastructure must adapt to changing conditions, evolving mission goals, and limited human oversight. This creates a critical gap in developing autonomous systems capable of continuous self-organization. This gap is being addressed by developing a biologically inspired, adaptive Martian infrastructure using swarm intelligence. The scope includes key system domains such as power distribution, communication networks, and surface logistics. Agent-based modeling software will simulate infrastructure components as autonomous agents that evaluate local …

Phaëthon System, Brady Roudabush, Lauren Gallo, Emelia Thompson, Jacob Woods

Discovery Day - Daytona Beach

Phaëthon System is the project name for the Search and Rescue Drone Initiative. This initiative will improve the current search and rescue drone industry by introducing new techniques to get through dense forest canopies and other places where an overhead view is not useful. The Phaëthon System uses a swarm of drones that can penetrate under the tree canopy to map and search with the utmost efficiency and safety for rescuers. A command drone is launched to survey the overall search area, and set up a communications and data link. The next component is then released, which is a swarm …

Interplay Between Physical Design Choices And Emergent Cyber System Consensus: A Case Study With An Underwater Swarm, Ava Neubert

Discovery Day - Daytona Beach

Understanding how physical constraints influence collective behavior is critical for designing cyber-physical multi-agent systems in communication-limited environments. This project investigates how agent mobility and communication constraints affect opinion dynamics in a three-dimensional underwater swarm. An agent-based model was developed in AnyLogic, where agents follow realistic motion dynamics and exchange information at discrete communication intervals to reflect underwater limitations. Agent opinions are modeled using a BOIDS-inspired consensus mechanism in RGB space, allowing visualization of convergence behavior. A sensitivity analysis was conducted to evaluate the effects of communication range, agent speed, turn rate, and swarm size. Results show that communication range has …

Metaheuristic Techniques To Optimize Trajectory Planning Of Uav Swarms: Enhancing Data Acquisition In Wireless Sensor Networks, Nada Ali Mohamed Ahmed Ahmed

Theses and Dissertations

Unmanned aerial vehicles (UAVs) have become increasingly integrated into various applications due to their cost-efficiency, rapid deployment, flexible maneuvers, and enhanced performance. This has led to the development of a new field called UAV-assisted Wireless Sensor Networks (U-WSNs), which focus on data routing, network performance optimization, and planning UAV trajectories between sensor nodes in wireless sensor networks. In this thesis, a new framework has been proposed to manage a swarm of UAVs cooperatively serving large-scale wireless sensor networks. The framework consists of three optimization problems: distributing sensor nodes among UAVs, finding optimal trajectories in the presence of obstacles, and performing …

Nonlinear Guidance And Control Of Unmanned Aerial Manipulators For Delivering A Payload On A Moving Platform, Ravi Gyawali

Mechanical and Aerospace Engineering Theses - Archive

Unmanned Aerial manipulators (UAMs) are a class of Unmanned Aerial Vehicles (UAVs) equipped with a manipulator. By combining the aerial mobility of a UAV with a manipulator's dexterity, these hybrid systems can perform a wide range of complex tasks while reducing risks and costs. As a result, they are increasingly being utilized for military, industrial, and agricultural applications.

The thesis presents a novel approach for a multi-UAM system to collaboratively deliver a payload on a stationary or maneuvering platform. A sliding-mode-based guidance law, sourced from existing literature, is integrated with a combined control technique for the UAVs and their respective …

Efficient Connectivity Management And Path Planning For Iot And Uav Networks, Amirahmad Chapnevis

Theses and Dissertations

This dissertation explores how to better manage resources in mobile networks, especially for enhancing the performance of Unmanned Aerial Vehicles (UAV)-supported IoT networks. We explored ways to set up a flexible communication architecture that can handle large IoT deployments by making good use of mobile core network resources like bearers and data paths. We developed strategies that meet the needs of IoT networks and enhance network performance. We also developed and tested a system that combines traffic from several mobile devices that use the same user identity and network resources within the core mobile network. We used everyday smartphones, SIM …

External Runtime Execution Monitoring Of A Cyber Physical System Via Trace Interfaces, Peter Vaughan Truslow

Theses and Dissertations

In the past two decades, Unmanned Aerial Systems have progressed from expensive military hardware or one-off custom builds, to include off-the-shelf drones that can be purchased for a rather affordable price and flown by nearly anyone. As the technology and performance have improved, the door is opened to applications that require operation in environments where the consequences for failure are high, such as operating in the navigable airspace or in urban environments, or with human passengers. This requires a great deal of trust in the reliability and integrity of the control systems of the aircraft. A method of monitoring the …

Accurate Indoor Navigation System Based On Imu/Lp-Mm Integrated Method Using Kalman Filter Algorithm, Abdullah Mohammed Bahasan

Hadhramout University Journal of Natural & Applied Sciences

Abstract

The demand for navigation systems is rapidly increasing, especially in indoor environments which the signal of GPS is not available. Therefore the Inertial Measurement Unit (IMU) system is a suitable navigation system in such indoor environments. It usually consists of three accelerometers and three gyroscopes to determine position, velocity and attitude information, respectively, without need of any external source. But this type of navigation systems has errors growth with time due to accelerometers and gyroscopes drifts. This paper introduces indoor navigation system based on integrated IMU navigation system with proposed system called Landmarks Points-Map Matching (LP-MM) system using Kalman …

Low-Cost Uav Swarm For Real-Time Object Detection Applications, Joel Valdovinos Miranda

Master's Theses

With unmanned aerial vehicles (UAVs), also known as drones, becoming readily available and affordable, applications for these devices have grown immensely. One type of application is the use of drones to fly over large areas and detect desired entities. For example, a swarm of drones could detect marine creatures near the surface of the ocean and provide users the location and type of animal found. However, even with the reduction in cost of drone technology, such applications result costly due to the use of custom hardware with built-in advanced capabilities. Therefore, the focus of this thesis is to compile an …

Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles, Zachary S. Lippay

Theses and Dissertations--Mechanical and Aerospace Engineering

This dissertation presents new results on multi-agent formation control and applies the new control algorithms to quadrotor unmanned air vehicles. First, this dissertation presents a formation control algorithm for double-integrator agents, where the formation is time varying and the agents’ controls satisfy a priori bounds (e.g., the controls accommodate actuator saturation). The main analytic results provide sufficient conditions such that all agents converge to the desired time-varying relative positions with one another and the leader, and have a priori bounded controls (if applicable). We also present results from rotorcraft experiments that demonstrate the algorithm with time-varying formations and bounded controls. …

Modernization Of Scienttific Mathematics Formula In Technology, Iwasan D. Kejawa Ed.D, Prof. Iwasan D. Kejawa Ed.D

Department of Mathematics: Faculty Publications

Abstract
Is it true that we solve problem using techniques in form of formula? Mathematical formulas can be derived through thinking of a problem or situation. Research has shown that we can create formulas by applying theoretical, technical, and applied knowledge. The knowledge derives from brainstorming and actual experience can be represented by formulas. It is intended that this research article is geared by an audience of average knowledge level of solving mathematics and scientific intricacies. This work details an introductory level of simple, at times complex problems in a mathematical epidermis and computability and solvability in a Computer Science. …

Localization Algorithms For Gnss-Denied And Challenging Environments, Chizhao Yang

Graduate Theses, Dissertations, and Problem Reports (ETD)

In this dissertation, the problem about localization in GNSS-denied and challenging environments is addressed. Specifically, the challenging environments discussed in this dissertation include two different types, environments including only low-resolution features and environments containing moving objects. To achieve accurate pose estimates, the errors are always bounded through matching observations from sensors with surrounding environments. These challenging environments, unfortunately, would bring troubles into matching related methods, such as "fingerprint" matching, and ICP. For instance, in environments with low-resolution features, the on-board sensor measurements could match to multiple positions on a map, which creates ambiguity; in environments with moving objects included, the …

End To End Satellite Servicing And Space Debris Management, Aman Chandra, Himangshu Kalita, Roberto Furfaro, Jekan Thanga

Space Traffic Management Conference

There is growing demand for satellite swarms and constellations for global positioning, remote sensing and relay communication in higher LEO orbits. This will result in many obsolete, damaged and abandoned satellites that will remain on-orbit beyond 25 years. These abandoned satellites and space debris maybe economically valuable orbital real-estate and resources that can be reused, repaired or upgraded for future use. Space traffic management is critical to repair damaged satellites, divert satellites into warehouse orbits and effectively deorbit satellites and space debris that are beyond repair and salvage. Current methods for on-orbit capture, servicing and repair require a large service …

Autonomous Uav Battery Swapping, Reed Jacobsen, Nikolai Ruhe, Nathan Dornback

Williams Honors College, Honors Research Projects

One of the main hindrances of unmanned aerial vehicle (UAV) technology are power constraints. One way to alleviate some power constraints would be for two UAVs to exchange batteries while both are in flight. Autonomous mid-air battery swapping will expand the scope of UAV technology by allowing for indefinite flight times and longer missions. A single board computer will control each UAV’s flight software to respond to inputs to align with each other mid-flight. When the two UAVs have joined, mechanical components will exchange a depleted battery on the worker UAV for a freshly charged battery that belongs to the …

Real Time And High Fidelity Quadcopter Tracking System, Tyler Mckay Hall

Computer Engineering

This project was conceived as a desired to have an affordable, flexible and physically compact tracking system for high accuracy spatial and orientation tracking. Specifically, this implementation is focused on providing a low cost motion capture system for future research. It is a tool to enable the further creation of systems that would require the use of accurate placement of landing pads, payload acquires and delivery. This system will provide the quadcopter platform a coordinate system that can be used in addition to GPS.

Field research with quadcopter manufacturers, photographers, agriculture and research organizations were contact and interviewed for information …

Use Of A Small Unmanned Aerial System For The Sr-530 Mudslide Incident Near Oso, Washington, Robin Murphy, Brittany Duncan, Tyler Collins, Justin Kendrick, Patrick Lohman, Tamara Palmer, Frank Sanborn

School of Computing: Faculty Publications

The Center for Robot-Assisted Search and Rescue deployed three commercially available small unmanned aerial systems (SUASs)—an AirRobot AR100B quadrotor, an Insitu Scan Eagle, and a PrecisionHawk Lancaster—to the 2014 SR-530 Washington State mudslides. The purpose of the flights was to allow geologists and hydrologists to assess the eminent risk of loss of life to responders from further slides and flooding, as well as to gain a more comprehensive understanding of the event. The AirRobot AR100B in conjunction with PrecisionHawk postprocessing software created two-dimensional (2D) and 3D reconstructions of the inaccessible “moonscape” region of the slide and provided engineers with a …

A Midsummer Night’S Dream (With Flying Robots), Robin Murphy, Dylan Shell, Amy Guerin, Brittany Duncan, Benjamin Fine, Kevin Pratt, Takis Zourntos

School of Computing: Faculty Publications

Seven flying robot “fairies” joined human actors in the Texas A&M production of William Shakespeare’s A Midsummer Night’s Dream. The production was a collaboration between the departments of Computer Science and Engineering, Electrical and Computer Engineering, and Theater Arts. The collaboration was motivated by two assertions. First, that the performing arts have principles for creating believable agents that will transfer to robots. Second, the theater is a natural testbed for evaluating the response of untrained human groups (both actors and the audience) to robots interacting with humans in shared spaces, i.e., were believable agents created? The production used two types …