Related papers: Trajectory Planning of Weakly Supervised Aircraft
Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model…
In this paper, we tackle the problem of trajectory planning and control of a vehicle under locally varying traction limitations, in the presence of suddenly appearing obstacles. We employ concepts from adaptive model predictive control for…
Urban air mobility is the new mode of transportation aiming to provide a fast and secure way of travel by utilizing the low-altitude airspace. This goal cannot be achieved without the implementation of new flight regulations which can…
The issues in air traffic control have so far been addressed with the intent to improve resource utilization and achieve an optimized solution with respect to fuel comsumption of aircrafts, efficient usage of the available airspace with…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
Accurate trajectory prediction can improve General Aviation safety in non-towered terminal airspace, where high traffic density increases accident risk. We present ASCENT, a lightweight transformer-based model for multi-modal 3D aircraft…
The unmanned aerial vehicle (UAV)-enabled communication technology is regarded as an efficient and effective solution for some special application scenarios where existing terrestrial infrastructures are overloaded to provide reliable…
The rapid growth of the low-altitude economy has driven the widespread adoption of unmanned aerial vehicles (UAVs). This growing deployment presents new challenges for UAV trajectory planning in complex urban environments. However, existing…
Urban Air Mobility (UAM) has emerged as a transformative solution to alleviate urban congestion by utilizing low-altitude airspace, thereby reducing pressure on ground transportation networks. To enable truly efficient and seamless…
As air traffic volume is continuously increasing, it has become a priority to improve traffic control algorithms to handle future air travel demand and improve airspace capacity. We address the conflict resolution problem in air traffic…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
The main steps of automatic control methodology include the hierarchical representation of management system and the formal definitions of input variables, object and goal of control of each management level. A Petri net model of individual…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling,…
For robotic arms to operate in arbitrary environments, especially near people, it is critical to certify the safety of their motion planning algorithms. However, there is often a trade-off between safety and real-time performance; one can…
An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…