Related papers: Kinodynamic Planning for an Energy-Efficient Auton…

Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

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…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Due to the strong nonlinearity and nonholonomic dynamics, despite the various general trajectory optimization methods presented, few of them can guarantee efficient computation and physical feasibility for relatively complicated fixed-wing…

Real-time kinodynamic trajectory planning in dynamic environments is critical yet challenging for autonomous driving. In this letter, we propose an efficient trajectory planning system for autonomous driving in complex dynamic scenarios…

This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…

This paper aims to improve the path quality and computational efficiency of kinodynamic planners used for vehicular systems. It proposes a learning framework for identifying promising controls during the expansion process of sampling-based…

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…

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…

Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…

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…

Utilizing wind hovering techniques of soaring birds can save energy expenditure and improve the flight endurance of micro air vehicles (MAVs). Here, we present a novel method for fully autonomous orographic soaring without a priori…

Unmanned Aerial Vehicles (UAVS) are limited by the onboard energy. Refinement of the navigation strategy directly affects both the flight velocity and the trajectory based on the adjustment of key parameters in the UAVS pipeline, thus…

We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which…

In this paper, we introduce a hierarchical decision-making framework for emerging mobility systems. Despite numerous studies focusing on optimizing vehicle flow, practical feasibility has often been overlooked. To address this gap, we…

Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…

Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…