Related papers: Optimized and Trusted Collision Avoidance for Unma…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…

This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…

Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…

Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…

We report a globally-optimal approach to robotic path planning under uncertainty, based on the theory of quantitative measures of formal languages. A significant generalization to the language-measure-theoretic path planning algorithm…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

For constrained linear systems with bounded disturbances and parametric uncertainty, we propose a robust adaptive model predictive control strategy with online parameter estimation. Constraints enforcing persistently exciting closed loop…

Unmanned aerial vehicles (UAVs) have gained popularity due to their flexible mobility, on-demand deployment, and the ability to establish high probability line-of-sight wireless communication. As a result, UAVs have been extensively used as…

Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…

This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…

This paper presents an optic flow-guided approach for achieving soft landings by resource-constrained unmanned aerial vehicles (UAVs) on dynamic platforms. An offline data-driven linear model based on Koopman operator theory is developed to…

Accurate mathematical models of aerodynamic properties play an important role in the aerospace field. In some cases, system parameters of an aircraft can be estimated reliably only via flight tests. In order to obtain meaningful…

Cooperative autonomous approaches to avoiding collisions among small Unmanned Aerial Vehicles (UAVs) is central to safe integration of UAVs within the civilian airspace. One potential online cooperative approach is the concept of reciprocal…

During recent years, unmanned surface vehicles are extensively utilised in a variety of maritime applications such as the exploration of unknown areas, autonomous transportation, offshore patrol and others. In such maritime applications,…

Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…