Related papers: Introducing MISS, a new tool for collision avoidan…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
A novel trajectory design methodology is proposed in the current work to minimize the state uncertainty in the crucial mission of spacecraft rendezvous. The trajectory is shaped under constraints utilizing a multiple-impulse approach. State…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…
Spatial disorientation is a leading cause of fatal aircraft accidents. This paper explores the potential of AI agents to aid pilots in maintaining balance and preventing unrecoverable losses of control by offering cues and corrective…
We present MOSS, a multi-objective optimization framework for constructing stable sets of decision rules. MOSS incorporates three important criteria for interpretability: sparsity, accuracy, and stability, into a single multi-objective…
The design and analysis of systems that combine computational behaviour with physical processes' continuous dynamics - such as movement, velocity, and voltage - is a famous, challenging task. Several theoretical results from programming…
This study developed an explainable AI for ship collision avoidance. Initially, a critic network composed of sub-task critic networks was proposed to individually evaluate each sub-task in collision avoidance to clarify the AI…
In space-air-ground integrated networks (SAGIN), receivers experience diverse interference from both the satellite and terrestrial transmitters. The heterogeneous structure of SAGIN poses challenges for traditional interference management…
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with…
3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings…
The inconsistency issue in the Visual-Inertial Navigation System (VINS) is a long-standing and fundamental challenge. While existing studies primarily attribute the inconsistency to observability mismatch, these analyses are often based on…
Movable antennas (MAs) are a promising technology to achieve a significant enhancement in rate for future wireless networks. The pioneering investigation on near-field directional modulation design for a reconfigurable intelligent surface…
Integrated sensing and communication (ISAC) has become a promising technology for future communication system. In this paper, we consider a millimeter wave system over high mobility scenario, and propose a novel simultaneous transmission…
Orbit-determination programs find the orbit solution that best fits a set of observations by minimizing the RMS of the residuals of the fit. For near-Earth asteroids, the uncertainty of the orbit solution may be compatible with trajectories…
Collision risk estimation and avoidance play central roles in the safety of autonomous driving (AD) systems. Recently emerged end-to-end AD systems gain collision avoidance ability by minimizing losses to penalize planning trajectories that…
Interstellar objects (ISOs) represent a compelling and under-explored category of celestial bodies, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed…