Related papers: Routing Multiple Unmanned Vehicles in GPS-Denied E…
With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone,…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…
For long-duration operations in GPS-denied environments, accurate and repeatable waypoint navigation is an essential capability. While simultaneous localization and mapping (SLAM) works well for single-session operations, repeated,…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
This paper explores the use of autonomous unmanned vehicles to support power grid operations. With built-in batteries and the capability to carry additional battery energy storage, the rising number of autonomous vehicles can represent a…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
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…
In order to solve the problem of frequent deceleration of unmanned vehicles when approaching obstacles, this article uses a Deep Q-Network (DQN) and its extension, the Double Deep Q-Network (DDQN), to develop a local navigation system that…
The Multi-Agent Path Finding (MAPF) problem aims at finding non-conflicting paths for multiple agents from their respective sources to destinations. This problem arises in multiple real-life situations, including robot motion planning and…
Vehicular ad hoc networks (VANETs) are characterized by frequent routing path failures due to the high mobility caused by the sudden changes of the direction of vehicles. The routing paths between two different vehicles should be…
The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…
Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is adaptively replanning paths online as the terrain is…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…