Related papers: High-speed Flight in an Ergodic Forest
Recently, ergodic control has been suggested as a means to guide mobile sensors for information gathering tasks. In ergodic control, a mobile sensor follows a trajectory that is ergodic with respect to some information density distribution.…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
By means of a novel variational approach we study ergodic properties of a model of a multi lane traffic flow, considered as a (deterministic) wandering of interacting particles on an infinite lattice. For a class of initial configurations…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Collective motion is abundant in nature, producing a vast amount of phenomena which have been studied in recent years, including the landing of flocks of birds. We investigate the collective decision making scenario where a flock of birds…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…
Herding defines a deterministic dynamical system at the edge of chaos. It generates a sequence of model states and parameters by alternating parameter perturbations with state maximizations, where the sequence of states can be interpreted…
Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In this paper, we introduce, to the best of our knowledge, the…
In this note we present two types of biological models which have interesting ergodic and chaotic properties. The first type are one-dimensional transformations, like a logistic map, which are used to describe the change in population size…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
For the stochastic six-vertex model on the quadrant $\mathbb{Z}_{\geq0}\times\mathbb{Z}_{\geq0}$ with step initial conditions and a single second-class particle at the origin, we show almost sure convergence of the speed of the second-class…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Loss of thrust emergencies-e.g., induced by bird/drone strikes or fuel exhaustion-create the need for dynamic data-driven flight trajectory planning to advise pilots or control UAVs. While total loss of thrust trajectories to nearby…
Animals must constantly make decisions on the move, such as when choosing among multiple options, or "targets", in space. Recent evidence suggests that this results from a recursive feedback between the (vectorial) neural representation of…
For the exactly solvable model of exponential last passage percolation on $\mathbb{Z}^2$, it is known that given any non-axial direction, all the semi-infinite geodesics starting from points in $\mathbb{Z}^2$ in that direction almost surely…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…