Related papers: DPMPC-Planner: A real-time UAV trajectory planning…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…
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…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
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…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…