William Wai Lun Leong

National University of Singapore | NUS · Temasek Laboratories

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 provide coverage to monitor the area of interest and locate survivors. We propose a modular framework and patrol strategy that enables a swarm of UAVs to perform cooperative...

Task allocation enables heterogeneous agents to execute heterogeneous tasks in the domain of unmanned aerial vehicles, while responding to dynamic changes in the environment and available resources to complete complex, multi-objective missions, leading to swarm intelligence. We propose a bio-inspired approach using digital pheromones to perform sca...

Over the past two decades, unmanned aerial vehicles (UAVs) have attracted more and more attention because of their increasing applications in the military and civil sectors. Collision avoidance is a core problem in developing UAVs. In this paper, a low-cost camera based sense and avoid control scheme is proposed. First, for the unmanned aerial vehi...

The application and evolution of multi-agent algorithms to the domain of unmanned aerial vehicles (UAVs) or drones will enable swarms of heterogeneous agents with emergent behaviour that dynamically and optimally respond to changes in the environment and resources to complete heterogeneous tasks in multi-objective missions. A key enabler of this ca...

The application and evolution of multi-agent algorithms to the domain of unmanned aerial vehicles (UAVs) or drones will enable swarms of heterogeneous agents with emergent behaviour that dynamically and optimally respond to changes in the environment and resources to complete heterogeneous tasks in multi-objective missions. A key enabler of this ca...

Multiple unmanned multirotor (MUM) systems are becoming a reality. They have a wide range of applications such as for surveillance, search and rescue, monitoring operations in hazardous environments and providing communication coverage services. Currently, an important issue in MUM is coverage control. In this paper, an existing coverage control al...

The use of unmanned aerial vehicles (UAVs) or drones have become ubiquitous in the recent years. Collision avoidance is a critical component of path planning, allowing multi-agent networks of cooperative UAVs to work together towards common objectives while avoiding each other. We implemented, integrated and evaluated the effectiveness of using a l...

We have developed and demonstrated an intelligent auto-organizing aerial robotic sensor network system composed of cameras installed on UAVs and ground fixtures for urban surveillance using the decentralised control paradigm. The system can auto-organize to meet user requirements, changes to user requirements and when new UAVs or ground cameras are...

We conducted real proof-of-concept demonstrations of an auto-organizing sensor network composed of UAVs and ground cameras, for urban surveillance. We adopted a decentralised paradigm with tightly coupled perception and tactical behaviour algorithms. The network would reconfigure when cameras are added or removed so that high priority tasks are alw...

A multiple unmanned aerial vehicle (MUAV) system is a group of vehicles that are designed with the aim to perform some collective behavior. Coverage control is one of the most active research fields in MUAVs. As MUAVs are nowadays widely used in many application areas, the research in the coverage control problem has become a hot point. Although se...