Related papers: Path Planning of Unmanned System using Carrot-chas…
In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and…
Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is essential. In this paper, we study the properties of a general…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
Unmanned aerial vehicles (UAVs) have been increasingly used for exploring areas. Many mobility algorithms were designed to achieve a fast coverage of a given area. We focus on analysing the expected coverage of the symmetric random walk…
Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration. In this work, we address the challenge of a robot navigating towards an unknown goal while also accounting for a…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Unmanned Aerial Vehicles have received much attention in recent years due to its wide range of applications, such as exploration of an unknown environment to acquire a 3D map without prior knowledge of it. Existing exploration methods have…
Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
A novel control & software architecture using ROS C++ is introduced for object interception by a UAV with a mounted depth camera and no external aid. Existing work in trajectory prediction focused on the use of off-board tools like motion…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
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…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…