{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,15]],"date-time":"2025-12-15T01:11:15Z","timestamp":1765761075384,"version":"3.48.0"},"reference-count":46,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2026,1]]},"abstract":"<jats:p>A system using aerial vehicles to autonomously locate and retrieve ground packages of various colors and shapes within a designated area was developed. This system was notable for its use of an innovative rotor configuration that offered a higher degree of control compared to traditional designs. To accurately identify and track the packages, a multi-sensor approach combining vision and Light Detection and Ranging technologies was implemented, integrating data into an extended Kalman filter framework for precise position and velocity estimates. An electro-permanent magnet was employed to securely grab and release the packages, which have a ferrous material. The process of path planning and collision avoidance was conducted in a decentralized manner, leveraging a shared global map among the airborne vehicles. This paper details system technical design, including the integration of various technologies, and shares insights and outcomes derived from its application.<\/jats:p>","DOI":"10.1142\/s2301385024500390","type":"journal-article","created":{"date-parts":[[2024,11,8]],"date-time":"2024-11-08T10:51:53Z","timestamp":1731063113000},"page":"181-200","source":"Crossref","is-referenced-by-count":1,"title":["Collaborative Unmanned Aerial Package Pickup and Delivery System"],"prefix":"10.1142","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7152-5889","authenticated-orcid":false,"given":"Stephen","family":"Haviland","sequence":"first","affiliation":[{"name":"optimAero, Tehachapi, CA 93561, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dmitry","family":"Bershadsky","sequence":"additional","affiliation":[{"name":"optimAero, Tehachapi, CA 93561, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-4773-921X","authenticated-orcid":false,"given":"Jintasit","family":"Pravitra","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Navaminda Kasatriyadhiraj Royal Air Force Academy, Saraburi 18180, Thailand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takuma","family":"Nakamura","sequence":"additional","affiliation":[{"name":"Independent Researcher, Seattle, WA 98109, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5845-3641","authenticated-orcid":false,"given":"Eric","family":"Johnson","sequence":"additional","affiliation":[{"name":"Department of Aerospace Engineering, The Pennsylvania State University, University Park, PA 16802, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5739-1338","authenticated-orcid":false,"given":"Thanakorn","family":"Khamvilai","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Texas Tech University, Lubbock, TX 79409, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2024,12,12]]},"reference":[{"key":"S2301385024500390BIB001","doi-asserted-by":"publisher","DOI":"10.3390\/vaccines11030605"},{"key":"S2301385024500390BIB002","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-68987-6_13"},{"key":"S2301385024500390BIB003","doi-asserted-by":"publisher","DOI":"10.3390\/drones7030191"},{"key":"S2301385024500390BIB004","doi-asserted-by":"publisher","DOI":"10.1016\/j.ajsl.2023.01.002"},{"key":"S2301385024500390BIB005","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21817"},{"key":"S2301385024500390BIB006","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21824"},{"key":"S2301385024500390BIB007","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21810"},{"key":"S2301385024500390BIB008","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21816"},{"key":"S2301385024500390BIB009","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20414"},{"key":"S2301385024500390BIB010","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21430"},{"key":"S2301385024500390BIB011","doi-asserted-by":"publisher","DOI":"10.2514\/6.2017-0674"},{"key":"S2301385024500390BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/AERO.2016.7500873"},{"key":"S2301385024500390BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094871"},{"key":"S2301385024500390BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487495"},{"key":"S2301385024500390BIB015","doi-asserted-by":"crossref","unstructured":"A. Gawel, M. Kamel, T. Novkovic, J. Widauer, D. Schindler, B. P. von Altishofen, R. Siegwart and J. Nieto, Aerial picking and delivery of magnetic objects with MAVs (2016), arXiv:1612.02606.","DOI":"10.1109\/ICRA.2017.7989675"},{"key":"S2301385024500390BIB016","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2515038"},{"key":"S2301385024500390BIB017","doi-asserted-by":"publisher","DOI":"10.2514\/6.2009-6157"},{"key":"S2301385024500390BIB018","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21620"},{"key":"S2301385024500390BIB019","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385016500047"},{"key":"S2301385024500390BIB020","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839232"},{"key":"S2301385024500390BIB021","unstructured":"H. C. Christmann, A path planning aid for single operator UAV swarms in structured environments, Ph.D. Dissertation, Georgia Institute of Technology (2015)."},{"key":"S2301385024500390BIB022","doi-asserted-by":"publisher","DOI":"10.2514\/6.2013-4989"},{"key":"S2301385024500390BIB023","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013690"},{"key":"S2301385024500390BIB024","first-page":"115","volume-title":"6th Int. Conf. Intelligent Autonomous Systems (IAS-6)","author":"Dias M. B.","year":"2000"},{"key":"S2301385024500390BIB025","first-page":"10","volume-title":"Proc. AIAA\/AHS\/ASEE Aircraft Design Systems and Operations Meeting","author":"Bates P.","year":"1987"},{"key":"S2301385024500390BIB026","unstructured":"A. S. Khalid, Development and implementation of rotorcraft preliminary design methodology using multidisciplinary design optimization, Ph.D. Dissertation, Georgia Institute of Technology (2006)."},{"key":"S2301385024500390BIB027","unstructured":"E. S. Latorre, Propulsion system optimization for an unmanned lightweight quadrotor, Master\u2019s Thesis Universitat Politecnica de Catalunya, Master in Aerospace Science Technology (2011)."},{"key":"S2301385024500390BIB028","doi-asserted-by":"publisher","DOI":"10.2514\/1.41027"},{"key":"S2301385024500390BIB029","doi-asserted-by":"publisher","DOI":"10.1117\/12.2051112"},{"key":"S2301385024500390BIB030","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353443"},{"key":"S2301385024500390BIB031","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2330999"},{"key":"S2301385024500390BIB032","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759271"},{"key":"S2301385024500390BIB033","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487497"},{"key":"S2301385024500390BIB034","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759254"},{"key":"S2301385024500390BIB035","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2014.7017669"},{"key":"S2301385024500390BIB036","unstructured":"D. Bershadsky, Electric multirotor design and optimization, Ph.D. Dissertation, Georgia Institute of Technology (2017)."},{"key":"S2301385024500390BIB037","unstructured":"J. S. Dittrich, Design and integration of an unmanned aerial vehicle navigation system, Master\u2019s Thesis, School of Aerospace Engineering, Georgia Institute of Technology (2002)."},{"key":"S2301385024500390BIB038","doi-asserted-by":"publisher","DOI":"10.4050\/F-0071-2015-10295"},{"key":"S2301385024500390BIB039","doi-asserted-by":"publisher","DOI":"10.2514\/6.2016-0581"},{"key":"S2301385024500390BIB040","doi-asserted-by":"publisher","DOI":"10.2514\/1.6271"},{"key":"S2301385024500390BIB041","doi-asserted-by":"publisher","DOI":"10.2514\/6.2017-1043"},{"key":"S2301385024500390BIB042","unstructured":"E. N. Johnson, Limited authority adaptive flight control, Ph.D. Dissertation, School of Aerospace Engineering, Georgia Institute of Technology (2000)."},{"key":"S2301385024500390BIB043","doi-asserted-by":"publisher","DOI":"10.1002\/9781119174882"},{"key":"S2301385024500390BIB044","doi-asserted-by":"publisher","DOI":"10.1016\/S0925-7721(02)00093-7"},{"key":"S2301385024500390BIB045","doi-asserted-by":"publisher","DOI":"10.3390\/s23010327"},{"key":"S2301385024500390BIB046","doi-asserted-by":"publisher","DOI":"10.2514\/1.4424"}],"container-title":["Unmanned Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S2301385024500390","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,15]],"date-time":"2025-12-15T01:08:54Z","timestamp":1765760934000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S2301385024500390"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,12]]},"references-count":46,"journal-issue":{"issue":"01","published-print":{"date-parts":[[2026,1]]}},"alternative-id":["10.1142\/S2301385024500390"],"URL":"https:\/\/doi.org\/10.1142\/s2301385024500390","relation":{},"ISSN":["2301-3850","2301-3869"],"issn-type":[{"type":"print","value":"2301-3850"},{"type":"electronic","value":"2301-3869"}],"subject":[],"published":{"date-parts":[[2024,12,12]]}}}