Related papers: Toward Verifiable Real-Time Obstacle Motion Predic…
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,…
This paper presents a robust computationally efficient real-time collision avoidance algorithm for Unmanned Aerial Vehicle (UAV), namely Memory-based Wall Following-Artificial Potential Field (MWF-APF) method. The new algorithm switches…
Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…
Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…
Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively…
In this paper, we present an innovative risk-bounded motion planning methodology for stochastic multi-agent systems. For this methodology, the disturbance, noise, and model uncertainty are considered; and a velocity obstacle method is…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…
For many multiagent control problems, neural networks (NNs) have enabled promising new capabilities. However, many of these systems lack formal guarantees (e.g., collision avoidance, robustness), which prevents leveraging these advances in…
Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…