Related papers: A-star path planning simulation for UAS Traffic Ma…
In unstructured environments the best path is not always the shortest, but needs to consider various objectives like energy efficiency, risk of failure or scientific outcome. This paper proposes a global planner, based on the A* algorithm,…
This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
Unmanned Aerial Vehicles (UAVs) are suited as cost-effective and adaptable platforms for carrying Wi-Fi Access Points (APs) and cellular Base Stations (BSs). Implementing aerial networks in disaster management scenarios and crowded areas…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…
Autonomous vehicle navigation in unstructured environments, such as forests and mountainous regions, presents significant challenges due to irregular terrain and complex road conditions. This work provides a comparative evaluation of…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…
Unmanned Aerial Vehicles (UAVs) have emerged as a critical component in next-generation wireless networks, particularly for disaster recovery scenarios, due to their flexibility, mobility, and rapid deployment capabilities. This paper…
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…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…
This study proposes an approach for establishing an optimal multihop ad-hoc network using multiple unmanned aerial vehicles (UAVs) to provide emergency communication in disaster areas. The approach includes two stages, one uses particle…
Low-altitude urban flight planning for small Unmanned Aircraft Systems (UAS) requires accurate vehicle, environment maps, and risk models to assure flight plans consider the urban landscape as well as airspace constraints. This paper…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
The reduction of the computational effort is desirable for the simulation of marine ecosystem models. Using a marine ecosystem model, the assessment and the validation of annual periodic solutions (i.e., steady annual cycles) against…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…