Related papers: Path Planning of Unmanned System using Carrot-chas…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
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…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Evolutionary algorithms are wildly used in unmanned aerial vehicle path planning for their flexibility and effectiveness. Nevertheless, they are so sensitive to the change of environment that can't adapt to all scenarios. Due to this…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…
In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
Safety is a critical concern for the success of urban air mobility, especially in dynamic and uncertain environments. This paper proposes a path planning algorithm based on RRT in conjunction with chance constraints in the presence of…