Related papers: Path Planning of Unmanned System using Carrot-chas…
In this paper a search algorithm is proposed to find a sub optimal path for a non-holonomic system. For this purpose the algorithm starts sampling the front part of the vehicle and moves towards the destination with a cost function. The…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle--target pair. The vehicles incur a penalty…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…
Unmanned Aerial Vehicle (UAV) swarms adoption shows a steady growth among operators due to the benefits in time and cost arisen from their use. However, this kind of system faces an important problem which is the calculation of many optimal…
This paper describes a technique for the autonomous mission planning of unmanned aerial system swarms. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate…
The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…
We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path parameterisation enables the trivial computation of dynamic…
The shortage of workforce and increasing cost of maintenance has forced many farm industrialists to shift towards automated and mechanized approaches. The key component for autonomous systems is the path planning techniques used. Coverage…