Related papers: Integrity-Based Path Planning Strategy for Urban A…
This paper considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module for hierarchical navigation systems that has provable collision-free properties.…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
Learning-based methods are increasingly popular for search algorithms in single-criterion optimization problems. In contrast, for multiple-criteria optimization there are significantly fewer approaches despite the existence of numerous…
Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…
Unmanned Surface Vehicle (USV) is a new type of intelligent surface craft, and global path planning is the key technology of USV research, which can reflect the intelligent level of USV. In order to solve the problem of global path planning…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
In this paper, we study the three-dimensional (3D) path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…
Autonomous vehicles necessitate a delicate balance between safety, efficiency, and user preferences in trajectory planning. Existing traditional or learning-based methods face challenges in adequately addressing all these aspects. In…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
Autonomous vehicle navigation in unstructured environments, such as forests and mountainous regions, presents significant challenges due to irregular terrain and complex road conditions. This work provides a comparative evaluation of…
With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…
Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for…