Related papers: Trajectory Generation with Fast Lidar-based 3D Col…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
This paper addresses the problem of trajectory optimization for unmanned aerial vehicles (UAVs) performing time-sensitive medical deliveries in urban environments. Specifically, we consider a single UAV with 3 degree-of-freedom dynamics…
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…
Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…
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…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
Search-based methods that use motion primitives can incorporate the system's dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally optimal. However, searching high-dimensional state lattices is…
This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in…