Related papers: Resource-Optimal Planning For An Autonomous Planet…
Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the control center, offline motion planning is fundamental in the…
This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…
Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Path planning is an essential component of autonomous driving. A global planner is responsible for the high-level planning. It basically performs a shortest-path search on a known map, thereby defining waypoints used to control the local…
This study introduces a connective model of routing -- local path planning for Autonomous Underwater Vehicle (AUV) time efficient maneuver in long-range operations. Assuming the vehicle operating in a turbulent underwater environment, the…
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…
We outline a class of problems, typical of Mars rover operations, that are problematic for current methods of planning under uncertainty. The existing methods fail because they suffer from one or more of the following limitations: 1) they…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regions (PSRs). In turn, careful planning in space and time is…