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Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Connected and autonomous vehicles have the potential to minimize energy consumption by optimizing the vehicle velocity and powertrain dynamics with Vehicle-to-Everything info en route. Existing deterministic and stochastic methods created…
Advances in the Internet of Things are revolutionizing data acquisition, enhancing artificial intelligence and quality of service. Unmanned Aerial Vehicles (UAVs) provide an efficient data-gathering solution across varied environments. This…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
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…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
Autonomous UAV flight in confined, wall-dense environments requires low-latency and reliable motion planning under strict safety constraints. Traditional optimization-based planners suffer from mapping latency and easily fall into local…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…
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 with controllable length. To the best…
Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fast and computationally efficient dual-layer exploration…
Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that…
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…
Advances in unmanned aerial vehicle (UAV) design have opened up applications as varied as surveillance, firefighting, cellular networks, and delivery applications. Additionally, due to decreases in cost, systems employing fleets of UAVs…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…