Related papers: Multi-vehicle Path Following using Modified Trajec…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…
Understanding multi-vehicle interactive behaviors with temporal sequential observations is crucial for autonomous vehicles to make appropriate decisions in an uncertain traffic environment. On-demand similarity measures are significant for…
We present a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle (even if the target…
This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Implementing an autonomous vehicle that is able to output feasible, smooth and efficient trajectories is a long-standing challenge. Several approaches have been considered, roughly falling under two categories: rule-based and learning-based…
Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…
Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges.…
The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality…
Coordinated path following in multi-agent systems is a key challenge in robotics, with applications in automated logistics, surveillance, and collaborative exploration. Traditional formation control techniques often rely on…
This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the speed and precision of following a reference path. For…
For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed…