Related papers: A Receding Horizon Framework for Autonomy in Unman…
For heterogeneous unmanned systems composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), using UAVs serve as eyes to assist UGVs in motion planning is a promising research direction due to the UAVs' vast view…
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…
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…
With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…
This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent…
Many applications involving complex multi-task problems such as disaster relief, logistics and manufacturing necessitate the deployment and coordination of heterogeneous multi-agent systems due to the sheer number of tasks that must be…
Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…
This work considers online optimal motion planning of an autonomous agent subject to linear temporal logic (LTL) constraints. The environment is dynamic in the sense of containing mobile obstacles and time-varying areas of interest (i.e.,…
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…
Unmanned aerial vehicles (UAVs) have emerged as powerful embodied agents. One of the core abilities is autonomous navigation in large-scale three-dimensional environments. Existing navigation policies, however, are typically optimized for…
Recent technological advancements in small-scale unmanned aerial vehicles (UAVs) have led to the development of companion UAVs. Similar to conventional companion robots, companion UAVs have the potential to assist us in our daily lives and…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling technique is a new constrained approximate dynamic…
To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…
In recent years, using a network of autonomous and cooperative unmanned aerial vehicles (UAVs) without command and communication from the ground station has become more imperative, in particular in search-and-rescue operations, disaster…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust…