@article{Haviland2026, 
author = {Stephen Haviland and Dmitry Bershadsky and Jintasit Pravitra and Takuma Nakamura and Eric Johnson and Thanakorn Khamvilai},
title = {Collaborative Unmanned Aerial Package Pickup and Delivery System},
year = {2026},
journal = {Unmanned Systems},
volume = {14},
number = {1},
pages = {181-200},
keywords = {Unmanned aerial system, package pickup and delivery, autonomous collaboration, simulation, system integration},
url = {https://www.sciopen.com/article/10.1142/S2301385024500390},
doi = {10.1142/S2301385024500390},
abstract = {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.}
}