Related papers: Estimation and Planning of Exploration Over Grid M…

Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…

This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative…

In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…

UAVs are playing an increasingly important role in the field of wilderness rescue by virtue of their flexibility. This paper proposes a fusion of UAV vision technology and satellite image analysis technology for active wildfires detection…

This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…

Recently significant progress has been made in vehicle prediction and planning algorithms for autonomous driving. However, it remains quite challenging for an autonomous vehicle to plan its trajectory in complex scenarios when it is…

Cooperative multi-robot missions often require teams of robots to traverse environments where traversal risk evolves due to adversary patrols or shifting hazards with stochastic dynamics. While support coordination--where robots assist…

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…

Urban air mobility is the new mode of transportation aiming to provide a fast and secure way of travel by utilizing the low-altitude airspace. This goal cannot be achieved without the implementation of new flight regulations which can…

This study investigates the application of unmanned aerial vehicles (UAVs) in public management, focusing on optimizing path planning to address challenges such as energy consumption, obstacle avoidance, and airspace constraints. As UAVs…

We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) team operating in a stochastic environment. The UAV must visit a set of air points in minimum time while respecting energy constraints,…

Adaptive exploration methods propose ways to learn complex policies via alternating between exploration and exploitation. An important question for such methods is to determine the appropriate moment to switch between exploration and…

Stochastic Model Predictive Control has proved to be an efficient method to plan trajectories in uncertain environments, e.g., for autonomous vehicles. Chance constraints ensure that the probability of collision is bounded by a predefined…

Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…

Wildfire propagation is a highly stochastic process where small changes in environmental conditions (such as wind speed and direction) can lead to large changes in observed behaviour. A traditional approach to quantify uncertainty in…

Autonomous surveillance unmanned aerial vehicles (UAVs) are deployed to observe the streets of the city for any suspicious activities. This paper utilizes surveillance UAVs for the purpose of detecting the presence of a fire in the streets.…

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…

Autonomous exploration is a crucial aspect of robotics, enabling robots to explore unknown environments and generate maps without prior knowledge. This paper proposes a method to enhance exploration efficiency by integrating neural…

Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…