Related papers: Kinodynamic Planning for an Energy-Efficient Auton…
Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…
In this paper, we study the trajectory and resource allocation design for downlink energy-efficient secure unmanned aerial vehicle (UAV) communication systems, where an information UAV assisted by a multi-antenna jammer UAV serves multiple…
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics…
In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
This paper is based on a crucial issue in the aviation world: how to optimize the trajectory and controls given to the aircraft in order to optimize flight time and fuel consumption. This study aims to provide elements of a response to this…
This paper studies the trajectory optimization problem in a scenario where a single rotary-wing UAV acts as a relay of data payloads for downlink transmission requests generated randomly by two ground nodes (GNs) in a wireless network. The…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
This study introduces a connective model of routing -- local path planning for Autonomous Underwater Vehicle (AUV) time efficient maneuver in long-range operations. Assuming the vehicle operating in a turbulent underwater environment, the…
Autonomous driving lacks strong proof of energy efficiency with the energy-model-agnostic trajectory planning. To achieve an energy consumption model-aware trajectory planning for autonomous driving, this study proposes an online nonlinear…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…