Related papers: A Collision-Free Path Planning Algorithm for Unman…
Motion planning is the core problem to solve for developing any application involving an autonomous mobile robot. The fundamental motion planning problem involves generating a trajectory for a robot for point-to-point navigation while…
This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness…
Reliable estimation of macro and micro traffic states is essential for urban traffic management. Unmanned Aerial Vehicles, with their airborne full-sample continuous trajectory observation, bring new opportunities for macro- and…
In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
Path planning is a key component in motion planning for autonomous vehicles. A path specifies the geometrical shape that the vehicle will travel, thus, it is critical to safe and comfortable vehicle motions. For urban driving scenarios,…
A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…
Predictive motion planning is the key to achieve energy-efficient driving, which is one of the main benefits of automated driving. Researchers have been studying the planning of velocity trajectories, a simpler form of motion planning, for…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
We study the problem of planning a tour for an energy-limited Unmanned Aerial Vehicle (UAV) to visit a set of sites in the least amount of time. We envision scenarios where the UAV can be recharged along the way either by landing on…
Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Unmanned aerial vehicles (UAVs), commonly known as drones, are becoming increasingly popular for various applications. Freely flying drones create highly dynamic environments, where conventional routing algorithms which rely on stationary…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
Given the rapid advances in unmanned aerial vehicles, or drones, and increasing need to monitor traffic at a city level, one of the current research gaps is how to systematically deploy drones over multiple periods. We propose a real-time…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…