Related papers: Local Trajectory Planning For UAV Autonomous Landi…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Trajectory planning involves generating a series of space points to be followed in the near future. However, due to the complex and uncertain nature of the driving environment, it is impractical for autonomous vehicles~(AVs) to exhaustively…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
In this paper, we consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV) Base Station (BS). We consider a map characterized by a traffic intensity of users to be served. The UAV BS must travel from a given…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
Joint deployment of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has been shown to be an effective method to establish communications in areas affected by disasters. However, ensuring good Quality of Services (QoS)…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
With the increasing development of intelligent transportation systems and advancements in aviation technology, the concept of Advanced Air Mobility (AAM) is gaining attention. This study aims to improve operational safety and service…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…