arXiv subjects

Cahit Ikbal Er

Publications and source records attributed to Cahit Ikbal Er.

3 recordsLinked to original sources

arXiv2026

PRO-SPECT: Probabilistically Safe Scalable Planning for Energy-Aware Coordinated UAV-UGV Teams in Stochastic Environments

We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) team operating in a stochastic environment. The UAV must visit a set of air points in minimum time while respecting energy constraints, relying on the UGV as a mobile charging station. Unlike prior work that assumed deterministic travel times or used fixed robustness margins, we model travel times as random variables and bound the probability of failure (energy depletion) across the entire mission to a user-specified risk level. We formulate the problem as a Mixed-Integer Program and propose PRO-SPECT, a polynomial-time algorithm that generates risk-bounded plans. The algorithm supports both offline planning and online re-planning, enabling the team to adapt to disturbances while preserving the risk bound. We provide theoretical results on solution feasibility and time complexity. We also demonstrate the performance of our method via numerical comparisons and simulations.

cs.RO↗

arXiv2026

Energy-Aware Collaborative Exploration for a UAV-UGV Team

We present an energy-aware collaborative exploration framework for a UAV-UGV team operating in unknown environments, where the UAV's energy constraint is modeled as a maximum flight-time limit. The UAV executes a sequence of energy-bounded exploration tours, while the UGV simultaneously explores on the ground and serves as a mobile charging station. Rendezvous is enforced under a shared time budget so that the vehicles meet at the end of each tour before the UAV reaches its flight-time limit. We construct a sparsely coupled air-ground roadmap using a density-aware layered probabilistic roadmap (PRM) and formulate tour selection over the roadmap as coupled orienteering problems (OPs) to maximize information gain subject to the rendezvous constraint. The resulting tours are constructed over collision-validated roadmap edges. We validate our method through simulation studies, benchmark comparisons, and real-world experiments.

cs.RO↗

arXiv2026

RSPECT: Robust and Scalable Planner for Energy-Aware Coordination of UAV-UGV Teams in Aerial Monitoring

We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-horizon aerial monitoring missions. More specifically, given a set of points to be visited by the UAVs and desired final positions of the UAV-UGV teams, the objective is to find a robust plan (the vehicle trajectories) that can be realized without a major revision in the face of uncertainty (e.g., unknown obstacles/terrain, wind) to complete this mission in minimum time. We provide a formal description of this problem as a mixed-integer program (MIP), which is NP-hard. Since exact solution methods are computationally intractable for such problems, we propose RSPECT, a scalable and efficient heuristic. We provide theoretical results on the complexity of our algorithm and the feasibility and robustness of resulting plans. We also demonstrate the performance of our method via simulations and experiments.

cs.RO↗