Related papers: Computationally Efficient Obstacle Avoidance Traje…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
This paper develops a real-time, search-based aircraft contingency landing planner that minimizes traffic disruptions while accounting for ground risk. The airspace model captures dense air traffic departure and arrival flows, helicopter…
In this study, reinforcement learning was applied to learning two-dimensional path planning including obstacle avoidance by unmanned aerial vehicle (UAV) in an indoor environment. The task assigned to the UAV was to reach the goal position…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
This paper considers the problem of searching for a point of interest (POI) moving along an urban road network with an uncrewed aerial vehicle (UAV). The UAV is modeled as a variable-speed Dubins vehicle with a line-of-sight sensor in an…
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…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether withcontrollable length. To the best…
This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…
In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
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…
Autonomous agricultural vehicles (AAVs), including field robots and autonomous tractors, are becoming essential in modern farming by improving efficiency and reducing labor costs. A critical task in AAV operations is headland turning…
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…