Related papers: Optimal Target Intercept Paths for Vehicles with T…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…
A Differential Drive Robot (DDR) located inside a circular detection region in the plane wants to escape from it in minimum time. Various robotics applications can be modeled like the previous problem, such as a DDR escaping as soon as…
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…
Finding the optimum path for a robot for moving from start to the goal position through obstacles is still a challenging issue. This paper presents a novel path planning method, named D-point trigonometric, based on Q-learning algorithm for…
Curve-straight probabilistic engagement zones (CSPEZ) quantify the spatial regions an evader should avoid to reduce capture risk from a turn-rate-limited pursuer following a curve-straight path with uncertain parameters including position,…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
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…
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 more robust technique to distinguish and track dynamic obstacles…
A defender dispatches patrollers to circumambulate a perimeter to guard against potential attacks. The defender decides on the time points to dispatch patrollers and each patroller's direction and speed, as long as the long-run rate…
Existing methods for avoiding dynamic engagement zones (EZs) and minimizing risk leverage the calculus of variations to obtain optimal paths. While such methods are deterministic, they scale poorly as the number of engagement zones…
This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…
This paper presents an optimal $\Theta(n \log n)$ algorithm for determining time-minimal rectilinear paths among $n$ transient rectilinear obstacles. An obstacle is transient if it exists in the scene only for a specific time interval,…
This paper is concerned with devising the nonlinear optimal guidance for intercepting a stationary target with a fixed impact time. According to Pontryagin's Maximum Principle (PMP), some optimality conditions for the solutions of the…
In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…
We consider linear search for an escaping target whose speed and initial position are unknown to the searcher. A searcher (an autonomous mobile agent) is initially placed at the origin of the real line and can move with maximum speed $1$ in…
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the…
This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is withing…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
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…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…