Related papers: High-speed Flight in an Ergodic Forest
Large animal groups -- bird flocks, fish schools, insect swarms -- are often assumed to form by gradual aggregation of sparsely distributed individuals. Using a mathematically precise framework based on time-varying directed interaction…
Cross-country soaring flights rely on intermittent atmospheric updrafts to cover long distances, producing trajectories that alternate between rapid relocation and local exploration. From a large dataset of paraglider, hang glider, and…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
We consider the 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 spent there. We…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…
The natural wind environment that volant insects encounter is unsteady and highly complex, posing significant flight control and stability challenges. Unsteady airflows can range from structured chains of discrete vortices shed in the wake…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyramid partitioning using integrated depth sensors (RAPPIDS). The…
Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast incrementally built ESDF map is the bottleneck for…
This paper studies the formation mission design problem for commercial aircraft in the presence of uncertainties. Specifically, it considers uncertainties in the departure times of the aircraft and in the fuel burn savings for the trailing…
Guidance commands of flight vehicles are a series of data sets with fixed time intervals, thus guidance design constitutes a sequential decision problem and satisfies the basic conditions for using deep reinforcement learning (DRL). In this…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
A region of two-dimensional space has been filled randomly with large number of growing circular discs allowing only a `slight' overlapping among them just before their growth stop. More specifically, each disc grows from a nucleation…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
This paper derives an optimal control strategy for a simple stochastic dynamical system with constant drift and an additive control input. Motivated by the example of a physical system with an unexpected change in its dynamics, we take the…
In first-passage percolation, one places nonnegative i.i.d. random variables (T(e)) on the edges of Z^d. A geodesic is an optimal path for the passage times T(e). Consider a local property of the time environment. We call it a pattern. We…