Related papers: Robust & Asymptotically Locally Optimal UAV-Trajec…
Unmanned aerial vehicles (UAVs) have attracted significant interest recently in assisting wireless communication due to their high maneuverability, flexible deployment, and low cost. This paper considers a multi-UAV enabled wireless…
The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
The growing demand for drone navigation in urban and restricted airspaces requires real-time path planning that is both safe and scalable. Classical methods often struggle with the computational load of high-dimensional optimization under…
In the UAM space, strategic deconfliction provides an all-essential layer to airspace automation by providing safe, pre-emptive deconfliction or assignment of airspace resources to airspace users pre-flight. Strategic deconfliction…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Augmenting wireless networks with Unmanned Aerial Vehicles (UAVs), commonly referred to as drones, offers a promising avenue for providing reliable, cost-effective, and on-demand wireless services to desired areas. However, existing UAV…
We consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV). Assuming a traffic intensity map of users to be served, the UAV must travel from a given initial location to a final position within a given duration…
This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm…
This paper studies a rechargeable unmanned aerial vehicle (UAV) assisted wireless network, where a UAV is dispatched to disseminate information to a group of ground terminals (GTs) and returns to a recharging station (RS) before the…
In this paper, we address the problem of finding the optimal trajectory for an unmanned aerial vehicle (UAV) for improving the wireless coverage of a terrestrial cellular network. In particular, we consider a UAV that is tasked to travel…
In this paper, we propose an alternating optimization method to address a time-optimal trajectory generation problem. Different from the existing solutions, our approach introduces a new formulation that minimizes the overall trajectory…
In this paper, we consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV) Base Station (BS). We consider a map characterized by a traffic intensity of users to be served. The UAV BS must travel from a given…
Sequential convex programming has been established as an effective framework for solving nonconvex trajectory planning problems. However, its performance is highly sensitive to problem parameters, including trajectory variables, algorithmic…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…