Related papers: A Receding Horizon Framework for Autonomy in Unman…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…
This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
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…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…
Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory needs to be planned before the previously computed trajectory is…
Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification…
In this paper, we propose an autonomous UAV path planning framework using deep reinforcement learning approach. The objective is to employ a self-trained UAV as a flying mobile unit to reach spatially distributed moving or static targets in…
Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
This paper introduces an innovative application of foundation models, enabling Unmanned Ground Vehicles (UGVs) equipped with an RGB-D camera to navigate to designated destinations based on human language instructions. Unlike learning-based…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…