Related papers: Trajectory Generation with Fast Lidar-based 3D Col…
The widespread use of consumer drones has introduced serious challenges for airspace security and public safety. Their high agility and unpredictable motion make drones difficult to track and intercept. While existing methods focus on…
Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm…
This paper presents MADER, a 3D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic obstacles, and other planning agents. Real-time collision…
With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For…
The ability to efficiently plan and execute search missions in challenging and complex environments during natural and man-made disasters is imperative. In many emergency situations, precise navigation between obstacles and time-efficient…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
We present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…
Unmanned Aerial Vehicles (UAVs) have emerged as a critical component in next-generation wireless networks, particularly for disaster recovery scenarios, due to their flexibility, mobility, and rapid deployment capabilities. This paper…
Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control of aerial vehicles, generating feasible trajectories though…
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 investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…
This paper presents an approach for learning online generation of collision-free and torque-limited robot trajectories. In order to generate future motions, a neural network is periodically invoked. Based on the current kinematic state of…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…