Related papers: Minimal time synthesis for a kinematic drone model
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…
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…
In recent years, there has been a dramatic increase in both practical and research applications of unmanned aerial vehicles (UAVs). According to the literature, there is a need in this area to develop a more refined model of UAV system…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
This paper studies an unmanned aerial vehicle (UAV)-enabled wireless sensor network, in which one UAV flies in the sky to collect the data transmitted from a set of ground nodes (GNs) via distributed beamforming. We consider two scenarios…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
Engine failure is a recurring emergency in General Aviation and fixed-wing UAVs, often requiring the pilot or remote operator to carry out carefully planned glides to safely reach a candidate landing strip. We tackle the problem of…
Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…
Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…
In recent years, the increasing prevalence and intensity of wildfires have posed significant challenges to emergency response teams. The utilization of unmanned aerial vehicles (UAVs), commonly known as drones, has shown promise in aiding…
This paper proposes a planning algorithm for autonomous media production with multiple Unmanned Aerial Vehicles (UAVs) in outdoor events. Given filming tasks specified by a media Director, we formulate an optimization problem to maximize…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Terrestrial robots, i.e., unmanned ground vehicles (UGVs), and aerial robots, i.e., unmanned aerial vehicles (UAVs), operate in separate spaces. To exploit their complementary features (e.g., fields of views, communication links, computing…
As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…
In this paper I present the aerodynamic optimization of the angle of attack of MQ-9 Reaper wings under turbulent airflow conditions. The background discusses the evolution of UAVs such as the Hunter and their usages for different tasks,…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
In order to improve the communication of the UAV network when the UAV formation in a complex military mission environment. This paper proposed formation reconfiguration strategy under complexities mission environment. We take the problem of…